agv_navigation_ws/slam_karto/config/move_base.xml

<launch>
  <node ns="local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
    <param name="footprint_padding" value="0.01" />
    <param name="controller_frequency" value="10.0" />
    <param name="controller_patience" value="2.0" />

    <rosparam file="$(find slam_karto)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find slam_karto)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find slam_karto)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find slam_karto)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find slam_karto)/config/base_local_planner_params.yaml" command="load" />
  </node>
</launch>