<launch>

  <arg name="calibration_directory" value="$(env HELLO_FLEET_PATH)/$(env HELLO_FLEET_ID)/calibration_ros/"/>
  <arg name="uncalibrated_controller_calibration_filename" value="$(find stretch_core)/config/controller_calibration_head_factory_default.yaml"/>
  <arg name="uncalibrated_urdf_filename" value="$(find stretch_description)/urdf/stretch_uncalibrated.urdf"/>
  
  <!-- PROCESS CALIBRATION DATA -->
  <rosparam command="load" file="$(find stretch_calibration)/config/head_calibration_options.yaml" />
  <node name="process_head_calibration_data" pkg="stretch_calibration" type="process_head_calibration_data" output="screen" args="--no_vis">
    <param name="calibration_directory" type="string" value="$(arg calibration_directory)"/>
    <param name="uncalibrated_controller_calibration_filename" type="string" value="$(arg uncalibrated_controller_calibration_filename)"/>
    <param name="uncalibrated_urdf_filename" type="string" value="$(arg uncalibrated_urdf_filename)"/>
  </node>
  <!-- -->
  
</launch>
