agv_ros_ws/server/launch/nav_my_planner.launch

<launch>
    <!-- <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen" >
        <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
    </node> -->
    <node name="global_planner" pkg="my_planner" type="global_planner" output="screen" >
        <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
        <rosparam file="$(find my_planner)/param/planning_params.yaml" command="load" />
    </node> 

    <node name="local_planner" pkg="my_planner" type="local_planner" output="screen" >
        <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
        <rosparam file="$(find my_planner)/param/planning_params.yaml" command="load" />
    </node> 

    <node name="trajectory_tracker" pkg="my_planner" type="trajectory_tracker" output="screen" >
        <rosparam file="$(find my_planner)/param/planning_params.yaml" command="load" />
    </node> 

</launch>