<?xml version="1.0"?>
<launch>
  <arg name="map_file" default="$(find managerments)/maps/maze.yaml" doc="Path to a map .yaml file (required)." />
  <arg name="virtual_walls_map_file" default="$(arg map_file)" doc="Path to a virtual walls map .yaml file (optional)." />
  <arg name="with_virtual_walls" default="true" />

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