launch_segbot_simulation: make more like launch_segbot_base (#105)

launch_segbot_simulation/launch/common.launch

@@ -1,7 +1,7 @@
+<!-- common simulation for all segbot models -->
 <launch>
 
-  <!-- common simulation for all segbot models -->
-
+  <arg name="global_frame" default="level_mux_map" />
   <arg name="localization_scan_topic" default="scan_filtered" />
   <arg name="move_base_config" default="segbotv2" />
   <arg name="multimap_file" default="$(find utexas_gdc)/maps/simulation/multimap2/combined.yaml" />
@@ -14,8 +14,8 @@
   <!-- start the UTexas GDC simulation environment -->
   <include file="$(find utexas_gdc)/launch/simulation_multimap.launch" />
 
-  <!-- launch a multi map server for the simulated world -->
-  <node name="multi_level_map_server" pkg="multi_level_map_server" type="multi_level_map_server">
+  <node name="multi_level_map_server" pkg="multi_level_map_server"
+        type="multi_level_map_server">
     <param name="map_file" value="$(arg multimap_file)" />
   </node>
 
@@ -24,7 +24,7 @@
 
   <!-- also launch the level multiplexer and the level selector GUI -->
   <node name="level_mux" pkg="multi_level_map_utils" type="level_mux">
-    <param name="global_frame_id" value="level_mux_map" />
+    <param name="global_frame_id" value="$(arg global_frame)" />
   </node>
   <node name="level_selector" pkg="multi_level_map_utils" type="level_selector" />
 
@@ -48,7 +48,7 @@
     <arg name="y" value="$(arg y)" />
     <arg name="yaw" value="$(arg yaw)" />
     <arg name="robotid" value="segbot" />
-    <arg name="map_frame" value="level_mux_map" />
+    <arg name="map_frame" value="$(arg global_frame)" />
     <arg name="map_service" value="level_mux/static_map" />
     <arg name="map_topic" value="level_mux/map" />
     <arg name="navigation_map_topic" value="bwi_logical_navigator/map" />
@@ -63,7 +63,7 @@
 
   <!-- Finally, launch the bwi_logical_navigator to do low-level logical navigation. -->
   <node name="bwi_logical_navigator" pkg="bwi_logical_translator" type="bwi_logical_navigator">
-    <param name="global_frame_id" value="level_mux_map" />
+    <param name="global_frame_id" value="$(arg global_frame)" />
     <remap from="move_base" to="move_base_interruptable" />
   </node>
 
@@ -73,7 +73,7 @@
     <arg name="simulation" value="true" />
   </include>
 
-  <!-- Graphical user interface components -->
+  <!-- ******* graphical user interface ********* -->
 
   <!-- vizualization -->
   <node name="rviz" type="rviz_runner" pkg="segbot_navigation" />