follow_bot_remote.launch

<launch>

  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"/>
  <include file="$(find gscam)/examples/raspicam.launch"/>

  <!-- TURTLEBOT3 SLAM -->
  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="base_frame" value="base_footprint"/>
    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="2.0"/>
    <param name="maxUrange" value="4.0"/>
    <param name="minimumScore" value="100"/>
    <param name="linearUpdate" value="0.2"/>
    <param name="angularUpdate" value="0.2"/>
    <param name="temporalUpdate" value="0.5"/>
    <param name="delta" value="0.05"/>
    <param name="lskip" value="0"/>
    <param name="particles" value="120"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="xmin" value="-10.0"/>
    <param name="ymin" value="-10.0"/>
    <param name="xmax" value="10.0"/>
    <param name="ymax" value="10.0"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>
  
  <!-- TURTLEBOT3 Teleop Control -->
  <!-- turtlebot3_teleop_key already has its own built in velocity smoother -->
  <!--
  <node pkg="turtlebot3_teleop" type="turtlebot3_teleop_key" name="turtlebot3_teleop_keyboard" output="screen">
  </node>
  -->
  <!-- Republish compressed image as raw image -->
  <!--
  <node name="republish" 
        type="republish" 
        pkg="image_transport" 
        output="screen" 
        args="compressed in:=/raspicam_node/image raw out:=/raspicam2/image_raw" />
  -->
</launch>