free_fleet/ff_examples_ros2/launch/turtlebot3_world_ff.launch.xml

<?xml version='1.0' ?>
<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)"/>
  <arg name="map_file" default="$(find-pkg-share ff_examples_ros2)/maps/world.yaml"/>
  <arg name="param_dir" default="$(find-pkg-share ff_examples_ros2)/params"/>

  <!-- launches the basic turtlebot3 world with one basic turtlebot -->
  <include file="$(find-pkg-share turtlebot3_gazebo)/launch/turtlebot3_world.launch.py"/>

  <!-- launch the navigation stack with test maps -->
  <include file="$(find-pkg-share turtlebot3_navigation2)/launch/navigation2.launch.py">
    <arg name="use_sim_time" value="True"/>
    <arg name="map" value="$(var map_file)"/>
    <arg name="params_file" value="$(var param_dir)/turtlebot3_world_$(var model).yaml"/>
  </include>

  <!-- launch the free fleet client first -->
  <node name="turtlebot3_free_fleet_client_node" pkg="free_fleet_client_ros2"
      exec="free_fleet_client_ros2" output="both">
    <param name="fleet_name" value="turtlebot3"/>
    <param name="robot_name" value="ros2_tb3_0"/>
    <param name="robot_model" value="turtlebot3"/>
    <param name="level_name" value="turtlebot_world"/>
    <param name="dds_domain" value="42"/>
    <param name="max_dist_to_first_waypoint" value="10.0"/>
    <param name="map_frame" value="map"/>
    <param name="robot_frame" value="base_footprint"/>
    <param name="nav2_server_name" value="/navigate_to_pose"/>
    <param name="use_sim_time" value="True"/>
    <param name="dds_domain" value="42"/>
  </node>
</launch>