<launch>

  <arg name="map_file" default="$(find map_server)/maps/maze.yaml" doc="Path to a map .yaml file (required)." />
  <arg name="virtual_walls_map_file" default="$(find map_server)/maps/maze_virtual_walls.yaml" doc="Path to a virtual walls map .yaml file (optional)." />
  <arg name="with_virtual_walls" default="false" />

  <node name="static_map_server" pkg="map_server" type="map_server" args="$(arg map_file)" ns="/lane_mask" output="screen">
    <param name="frame_id" type="string" value="map"/>
    <param name="type" type="int" value="16"/>
  </node>

  <!-- <node if="$(arg with_virtual_walls)" name="virtual_walls_map_server" pkg="map_server" type="map_server" args="$(arg virtual_walls_map_file)" ns="/virtual_walls" output="screen">
    <param name="frame_id" type="string" value="map"/>
  </node> -->
  <!-- <arg name="direction_zones_map_file" default="$(find mir_gazebo)/maps/warehouse/direction_zones.yaml" doc="Path to a direction zones .yaml file (optional)." />
  <arg name="with_direction_zones" default="true" />
  <node if="$(eval direction_zones_map_file != '')" name="direction_zones_map_server" pkg="map_server" type="map_server" args="$(arg direction_zones_map_file)" ns="/direction_zones" output="screen">
    <param name="frame_id" type="string" value="map"/>
    <param name="type" type="int" value="16"/>
  </node> -->

</launch>
