agv_ros_ws/server/launch/navigation_start.launch

<launch>
    <param name="use_sim_time" value="false" />   

    <!-- 地图服务: 加载和提供地图数据给其他节点使用 -->
    <node name="map_server" pkg="map_server" type="map_server" args="/home/uestc/ros_ws/src/slam/map/chejian_local_0.1.yaml" output="screen">
        <param name="frame_id" value="map"/>
    </node>

    <!-- imu -->
    <!-- <include file="$(find yesense_imu)/launch/yesense_ahrs.launch"/> -->
    <!-- <node pkg="yesense_imu" type="imu_2_odom" name="imu_2_odom" output="screen" /> -->

    <!-- 雷达融合 -->
    <node pkg="my_planner" type="lidar_fusion" name="lidar_fusion" output="screen" />

    <node pkg="laser_odom" type="laser_odom_node" name="laser_odom_node" output="screen" />
    <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 base_link laser 100" output="screen" />

    <!-- beam model 定位 -->
    <node name="location_beam_model" pkg="location_beam_model" type="lidar_loc" output="screen" />

    <!-- AMCL 定位 -->
    <!-- <include file="$(find server)/launch/amcl.launch"/> -->

    <!-- RVIZ中可视化机器人 -->
    <!-- <node pkg="my_planner" type="robot_visualize" name="robot_visualize" output="screen" /> -->

    <!-- 激光雷达做行人检测 -->
    <node pkg="my_planner" type="lidar_pedestrian_check" name="lidar_pedestrian_check" output="screen"/>

</launch>