<?xml version="1.0"?>
<launch>
    <arg name="output_screen"       default="screen"/>
    <node pkg="diff_wheel_plugin"   type="diff_wheel_feedback" name="diff_wheel_feedback" output="$(arg output_screen)"> 
        <param name="ip_address"    value="192.168.1.5"/>
        <param name="port"          value="502"/>
        <param name="publish_rate"  value="50"/>
        <param name="start_bit"     value="111"/>
        <param name="end_bit"       value="114"/>
    </node>
    
    <node pkg="diff_wheel_plugin" type="diff_wheel_controller" name="diff_wheel_controller" output="screen">
        <rosparam command="load" file="$(find md_controller)/motorInfomation.yaml"/> 
        <param name="port_name" type="str" value="/dev/USB_MD200"/> 
    </node>
</launch>