Collapsed Husky launch file without gmapping and move_base

<?xml version="1.0"?>

<launch>
  <!-- husky_move is one of my packages -->
  <arg name="world_name" default="$(find husky_move)/worlds/husky_changed.world"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>


  <arg name="laser_enabled" default="true"/>
  <arg name="ur5_enabled" default="false"/>
  <arg name="kinect_enabled" default="true"/>
  <arg name="robot_initial_pose" default="$(optenv ROBOT_INITIAL_POSE)"/>
  <arg name="husky_gazebo_description" default="$(optenv HUSKY_GAZEBO_DESCRIPTION)"/>
  <arg name="ur5_control_yaml_file" default="$(find husky_control)/config/control_ur5.yaml"/>

  <param name="robot_description" command="$(find xacro)/xacro.py '$(arg husky_gazebo_description)'
    laser_enabled:=$(arg laser_enabled)
    ur5_enabled:=$(arg ur5_enabled)
    kinect_enabled:=$(arg kinect_enabled)
    " />
 
 
  <!--
  robot_state_publisher uses the URDF specified by the parameter robot_description and
the joint positions from the topic joint_states to calculate the forward kinematics of the robot and publish the results via tf.
  -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <!-- Load Husky control information -->
  <rosparam command="load" file="$(find husky_control)/config/control.yaml" />

  <node name="base_controller_spawner" pkg="controller_manager" type="spawner" args="husky_joint_publisher husky_velocity_controller --shutdown-timeout 3"/>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
    <rosparam command="load" file="$(find husky_control)/config/localization.yaml" />
  </node>

  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" output="screen"/>

  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find husky_control)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="husky_velocity_controller/cmd_vel"/>
  </node>


  <group if="$(arg kinect_enabled)">

    <!-- Include poincloud_to_laserscan if simulated Kinect is attached -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan" output="screen">

        <remap from="cloud_in" to="camera/depth/points"/>
        <remap from="scan" to="camera/scan"/>
        <rosparam>
            target_frame: base_link # Leave empty to output scan in the pointcloud frame
            tolerance: 1.0
            min_height: 0.05
            max_height: 1.0

            angle_min: -0.52 # -30.0*M_PI/180.0
            angle_max: 0.52 # 30.0*M_PI/180.0
            angle_increment: 0.005 # M_PI/360.0
            scan_time: 0.3333
            range_min: 0.45
            range_max: 4.0
            use_inf: true

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>
    </node>

  </group>

  <!-- Spawn robot in gazebo -->
  <node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
    args="$(arg robot_initial_pose) -unpause -urdf -param robot_description -model mobile_base"/>
 

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find husky_viz)/rviz/robot.rviz" />

  <node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
    <param name="default_topic" value="/cmd_vel"/>

</launch>