<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>