<?xml version="1.0" ?>

<launch>
  <arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
  <arg name="gui" default="true" />

  <!-- load MiR URDF -->
  <include file="$(find mir_description)/launch/upload_mir_urdf.launch">
    <arg name="mir_type" value="$(arg mir_type)" />
  </include>

  <node if="$(arg gui)"     name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
  <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher"     type="joint_state_publisher" />

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mir_description)/rviz/mir_description.rviz" required="true" />
</launch>
