tentabot_framework.launch

<launch>

  <arg name="sim_flag" default="true"/>
  <arg name="rviz_flag" default="true"/>
  <arg name="map_utility_flag" default="true"/>
  <arg name="tentabot_server_flag" default="true"/>

  <!-- CONFIGURATION OPTIONS
    config_task_nav_cylinders0_firefly
    config_task_nav_forestX_firefly
    config_task_nav_turtlebot3
    config_task_nav_stretch
    config_task_nav_jackal
    config_task_nav_jackal_real
    config_task_nav_rosbot
  -->
  <arg name="config_task_name" default="config_task_nav_turtlebot3"/>

  <!-- CONFIGURATION OPTIONS
    config_map_utility_cylinders0_firefly
    config_map_utility_forestX_firefly
    config_map_utility_turtlebot3
    config_map_utility_stretch
    config_map_utility_jackal
    config_map_utility_jackal_real
    config_map_utility_rosbot
    config_map_utility_turtlebot2
  -->
  <arg name="config_map_utility"  default="config_map_utility_turtlebot3" />

  <!-- CONFIGURATION OPTIONS
    config_tentabot_server_firefly
    config_tentabot_server_turtlebot3
    config_tentabot_server_stretch
    config_tentabot_server_jackal
    config_tentabot_server_jackal_real
    config_tentabot_server_rosbot
  -->
  <arg name="config_tentabot_server" default="config_tentabot_server_turtlebot3"/>

  <!-- PUBLISH CONFIGURATION PARAMETERS -->
  <param name="sim_flag"                          value="$(arg sim_flag)" />
  <param name="rviz_flag"                         value="$(arg rviz_flag)" />
  <param name="map_utility_flag"                  value="$(arg map_utility_flag)" />
  <param name="tentabot_server_flag"              value="$(arg tentabot_server_flag)" />
  <rosparam file="$(find tentabot)/config/task_nav/$(arg config_task_name).yaml" />
  <param name="config_map_utility"                value="$(arg config_map_utility)" />
  <param name="config_tentabot_server"            value="$(arg config_tentabot_server)" />

  <!-- RUN TENTABOT HEURISTIC FRAMEWORK -->
  <node name="tentabot_framework_launch" pkg="tentabot" type="tentabot_framework_launch.py" output="screen" />

</launch>