corvinRobot_YOYO/ROSCode/src/navigation/launch/amcl_start.launch

<launch>
  <!-- Run the map server with a map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation)/maps/mymap.yaml" />

  <!-- Run amcl -->
  <include file="$(find navigation)/launch/amcl_omni.launch" />

</launch>