makeblock.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
	<arg name="fullcalib" default="false"/>
    
    <include file="$(find robot_launch)/robot.launch" >
        <arg name="fullcalib"         value="$(arg fullcalib)"/>
    </include>
    <!-- outdated -->
    <!--include file="$(find robot_launch)/unity3d/unity.launch" /-->
    
    <!-- realsense D455 -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
        <arg name="depth_width" value="640"/>
        <arg name="depth_height" value="480"/>
        <arg name="depth_fps" value="30"/>

        <arg name="color_width" value="640"/>
        <arg name="color_height" value="480"/>
        <arg name="color_fps" value="30"/>

        <arg name="align_depth" value="true" />
        <arg name="publish_odom_tf" value="false" />
        
        
    </include>
    <include file="$(find nimbro_cam_transport)/launch/vaapisender.launch" />

    <include file="$(find robot_launch)/rplidar/rplidar.launch" />

    <include file="$(find robot_launch)/control/odometry.launch" unless="$(arg fullcalib)" >
        <arg name="use_ext_odom_publisher" value="False"/>
    </include>

    <include file="$(find robot_launch)/control/odometry.launch" if="$(arg fullcalib)" >
        <arg name="use_ext_odom_publisher" value="False"/>
    </include>
    

</launch>