<launch>

  <arg name="urdf_file" value="$(find stretch_description)/urdf/stretch.urdf"/>
  <arg name="controller_yaml_file" value="$(find stretch_core)/config/controller_calibration_head.yaml"/>
  <arg name="calibration_directory" value="$(env HELLO_FLEET_PATH)/$(env HELLO_FLEET_ID)/calibration_ros/"/>
  
  <!-- REALSENSE D435i -->
  <include file="$(find stretch_core)/launch/d435i_low_resolution.launch" />
  <node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen" >
      <param name="initial_mode" type="string" value="High Accuracy"/>
  </node>
  <!-- -->
  
  <!-- STRETCH DRIVER -->
  <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
  <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
  <!-- -->
  
  <!-- LASER RANGE FINDER -->
  <include file="$(find stretch_core)/launch/rplidar.launch" />
  <!-- -->
  
  <!-- KEYBOARD TELEOP -->
  <node name="keyboard_teleop" pkg="stretch_core" type="keyboard_teleop" output="screen" args=''/>
  <!-- -->
  
  <!-- VISUALIZE -->
  <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/wheel_odometry_test.rviz" />
  <!-- -->
  
</launch>
