data/mir_robots/mir_bringup/robot.launch

<?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>