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<launch>
<arg name="base_namespace" default="base1"/>
<arg name="robot_namespace" default="husky1"/>
<arg name="simulation" default="false"/>
<arg name="has_dropper" value="$(eval robot_namespace in ['spot1', 'spot3', 'spot4', 'husky1', 'husky2', 'husky3', 'husky4'])"/>
<group ns="$(arg robot_namespace)">
<node name="comm_node_manager"
pkg="comm_node_manager"
type="comm_node_manager_node.py"
output="screen">
<rosparam file="$(find comm_node_manager)/config/droppable_list.yaml" unless="$(arg simulation)"/>
<rosparam file="$(find comm_node_manager)/config/droppable_list_sim.yaml" if="$(arg simulation)"/>
</node>
<node if="$(eval simulation or not has_dropper)"
name="fake_comm_node_dropper"
pkg="comm_node_manager"
type="fake_comm_node_dropper.py"/>
<node name="comm_node_status_relay"
pkg="topic_tools"
type="relay"
args="/$(arg base_namespace)/comm_node_manager/status_agg
/$(arg robot_namespace)/comm_node_manager/status_agg"
respawn="true"/>
<node name="comm_node_pose_publisher"
pkg="comm_node_manager"
type="comm_node_pose.py"
output="screen"
respawn="true">
<param name="target_frame" value="$(arg robot_namespace)/odom"/>
</node>
</group>
</launch>