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<?xml version="1.0"?>
<launch>
<arg name="world_name" default="racecar_walker" />
<arg name="gui" default="true" />
<arg name="record" default="false" />
<arg name="web_app" default="false" />
<arg name="rviz" default="false" />
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="z" default="0.0"/>
<arg name="roll" default="0"/>
<arg name="pitch" default="0"/>
<arg name="yaw" default="0"/>
<!-- Load RC Car in Gazebo -->
<include file="$(find rover_gazebo)/launch/spawn/racecar.launch">
<arg name="world_name" value="$(arg world_name)" />
<arg name="gui" value="$(arg gui)" />
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="roll" value="$(arg roll)"/>
<arg name="pitch" value="$(arg pitch)"/>
<arg name="yaw" value="$(arg yaw)"/>
</include>
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Load Keybaord/Joystick node -->
<include file="$(find rover_teleop)/launch/rover_teleop.launch"/>
<!-- Load Rover Control information -->
<include file="$(find rover_control)/launch/rc_control_gazebo.launch"/>
<!-- Record data -->
<node pkg="rosbag" type="record" name="rosbag_record_all"
args="-a -o $(find rover_gazebo)/data/rc_walker"
if="$(arg record)" />
<!-- Run the Web App Support Nodes-->
<group if="$(arg web_app)">
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
<node respawn="true" pkg="web_video_server" type="web_video_server" name="web_video_server" />
<node respawn="true" pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher" />
</group>
<!-- Load RVIZ -->
<node if="$(arg rviz)" name="rviz_teb" pkg="rviz" type="rviz" args="-d $(find rover_gazebo)/rviz/rc_model.rviz" />
</launch>
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