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<launch>
<arg name="record" default="false"/>
<arg name="use_ned_frame" default="false"/>
<include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
<include file="$(find uuv_descriptions)/launch/upload_rexrov.launch">
<arg name="use_ned_frame" value="$(arg use_ned_frame)"/>
</include>
<include file="$(find uuv_trajectory_control)/launch/rov_nl_pid_controller.launch">
<arg name="uuv_name" value="rexrov"/>
<arg name="model_name" value="rexrov"/>
<arg name="use_ned_frame" value="$(arg use_ned_frame)"/>
</include>
<include file="$(find uuv_gazebo)/launch/controller_demos/record_demo.launch">
<arg name="record" value="$(arg record)"/>
<arg name="use_ned_frame" value="$(arg use_ned_frame)"/>
</include>
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find uuv_gazebo)/rviz/controller_demo.rviz"/>
</launch>
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