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<?xml version="1.0"?>
<launch>
<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="is_ci" default="$(optenv IS_CI 0)"/>
<arg name="is_camera_required" default="$(eval 1-arg('is_ci'))"/>
<arg name="is_camera_intel" default="true" />
<!-- upload robot description and params (joint configurations) -->
<include file="$(find mir_hardware_config)/upload_param.launch">
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find mir_default_robot_config)/upload_param.launch">
<arg name="robot" value="$(arg robot)" />
</include>
<!-- start robot_state_publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
<!-- start robot-specific launch file -->
<include file="$(find mir_bringup)/robots/$(arg robot).launch" >
<arg name="is_camera_required" value="$(arg is_camera_required)" />
<arg name="is_camera_intel" value="$(arg is_camera_intel)" />
</include>
</launch>
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