ucar_map/launch/ucar_gmapping.launch

<launch>
  <!-- base driver -->
  <include file="$(find ucar_controller)/launch/base_driver.launch">
  </include>
  <!-- lidar driver -->
  <include file="$(find ydlidar)/launch/ydlidar.launch"/>
  <!-- cartographer launch -->
  <include file="$(find ucar_map)/launch/gmapping_demo.launch"/>
</launch>