<?xml version="1.0"?>
<launch>
  <!-- Use simulation time -->
  <rosparam param="use_sim_time">True</rosparam>

  <!-- Load skidsteerbot model -->
  <param name="robot_description"
         command="$(find xacro)/xacro '$(find diff_drive_controller)/test/skidsteerbot.xacro'" />

  <!-- Start skidsteerbot -->
  <node name="skidsteerbot"
      pkg="diff_drive_controller"
      type="skidsteerbot"/>

  <!-- Load controller config -->
  <rosparam command="load" file="$(find diff_drive_controller)/test/skidsteerbot_controllers.yaml" />

  <!-- Spawn controller -->
  <node name="controller_spawner"
        pkg="controller_manager" type="spawner" output="screen"
        args="skidsteerbot_controller" />

  <!-- rqt_plot monitoring -->
  <!--
  <node name="skidsteerbot_pos_monitor"
        pkg="rqt_plot"
        type="rqt_plot"
        args="/skidsteerbot_controller/odom/pose/pose/position/x" />

  <node name="skidsteerbot_vel_monitor"
        pkg="rqt_plot"
        type="rqt_plot"
        args="/skidsteerbot_controller/odom/twist/twist/linear/x" />
  -->
</launch>
