<?xml version="1.0"?>
<launch>
  <arg name="output" default="screen"/>
  <arg name="goal_frame_id" default="map"/>
  <arg name="wait_duration" default="0.0"/>
  <arg name="waypoint_distance_tolerance" default="2"/>
  <arg name="waypoints_to_follow_topic" default="/clicked_point"/>
  <arg name="waypoints_list_topic" default="/waypoints"/>
  <arg name="waypoints_are_poses" default="false"/>
  <arg name="patrol_mode" default="false"/>

  <param name="goal_frame_id" value="$(arg goal_frame_id)"/>
  <param name="wait_duration" value="$(arg wait_duration)"/>
  <param name="waypoint_distance_tolerance" value="$(arg waypoint_distance_tolerance)"/>
  <param name="waypoints_to_follow_topic" value="$(arg waypoints_to_follow_topic)"/>
  <param name="waypoints_list_topic" value="$(arg waypoints_list_topic)"/>
  <param name="waypoints_are_poses" value="$(arg waypoints_are_poses)" type="bool"/>
  <param name="patrol_mode" value="$(arg patrol_mode)" type="bool"/>

  <node pkg="follow_waypoints" type="follow_waypoints_node" name="follow_waypoints_node" output="$(arg output)" required="true"/>

  <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters follow_waypoints">
    <param name="patrol_mode" type="bool" value="$(arg patrol_mode)" />
  </node>
</launch>

