smb_highlevel_controller.launch

<?xml version="1.0"?>
<launch>
  <arg name="start_robot" default="false"/>
  <arg name="auto_emergency" default="false"/>
  <arg name="prior_collision" default="true"/>
  <!-- Launching the SMB simulation with single pillar world -->
  <include file="$(find smb_gazebo)/launch/smb_gazebo.launch">
    <arg name="world_file" value="$(find smb_highlevel_controller)/world/singlePillar.world"/>
    <arg name="laser_enabled" value="true"/>
    <arg name="laser_scan_min_height" value="-0.2"/>
    <arg name="laser_scan_max_height" value="1.0"/>
  </include>
  
  <!-- Launching the highlevel controller node -->
  <node name="smb_highlevel_controller" pkg="smb_highlevel_controller" type="smb_highlevel_controller" output="screen">
    <param name="start_robot" type="boolean" value="$(arg start_robot)"/>
    <rosparam file="$(find smb_highlevel_controller)/config/default_parameters.yaml" command="load"/>
  </node>

  <!-- Launching automatic emergency node -->
  <node if="$(arg auto_emergency)" name="stop_condition_service_node" pkg="smb_highlevel_controller" type="stop_condition" output="screen">
    <param name="prior_collision" type="boolean" value="$(arg prior_collision)"/>
    <rosparam file="$(find smb_highlevel_controller)/config/default_parameters.yaml" command="load"/>
  </node>

  <!-- Launching the teleoperation keyboard node -->
  <!-- <node name="teleop" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" launch-prefix="xterm -e"/> -->

  <!-- Launching RViz -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find smb_highlevel_controller)/rviz/smb_highlevel_controller.rviz"/>

  <!-- Launching rqt multiplot -->
  <node unless="$(arg prior_collision)" name="rqt_multiplot" pkg="rqt_multiplot" type="rqt_multiplot" args="--multiplot-config $(find smb_highlevel_controller)/config/xy_imu_multiplot.xml --multiplot-run-all"/>

</launch>