<launch>
  <arg name="robot_namespace" default="base_station"/>

  <rosparam param="/robots">
    - husky1
    - husky2
  </rosparam>

  <include file="$(find comm_node_manager)/launch/comm_node_manager_base_station.launch">
    <arg name="robot_namespace" value="$(arg robot_namespace)"/>
  </include>

  <include file="$(find comm_node_manager)/launch/comm_node_manager.launch">
    <arg name="robot_namespace" value="husky1"/>
    <arg name="simulation" value="true"/>
  </include>

  <include file="$(find comm_node_manager)/launch/comm_node_manager.launch">
    <arg name="robot_namespace" value="husky2"/>
    <arg name="simulation" value="true"/>
  </include>

  <include file="$(find telemetry_tools)/launch/telemetry_husky.launch">
    <arg name="robot_namespace" value="husky1"/>
  </include>

  <include file="$(find telemetry_tools)/launch/telemetry_husky.launch">
    <arg name="robot_namespace" value="husky2"/>
  </include>

  <include file="$(find capability_common)/launch/robot_state_publisher.launch">
    <arg name="robot_namespace" value="husky1"/>
  </include>

  <include file="$(find capability_common)/launch/robot_state_publisher.launch">
    <arg name="robot_namespace" value="husky2"/>
  </include>
</launch>