<?xml version="1.0"?>

<launch>
	<include file="$(find simulator_e130)/launch/server.launch" />
	<include file="$(find simulator_e130)/launch/gui.launch" />
	<include file="$(find simulator_e130)/launch/robots.launch" />
  
    <!-- startup multi robots control node -->
    <include file="$(find robot_coordination)/launch/startup_robots_control.launch" />

    <!-- load map show in rviz -->
    <node pkg="map_server" type="map_server" name="stdr_load_map" args="$(find simulator_e130)/maps/floorplan_e130_e129.yaml">
        <remap from="map" to="/amcl/map" />
    </node>

    <!-- startup rviz show process -->
    <include file="$(find stdr_amcl)/launch/stdr_rviz.launch" />
    
    <!-- generate random path to nav -->
    <include file="$(find robot_coordination)/launch/gen_robots_path_nav.launch" />

    <!--
    <group ns="/robot_1">
    <include file="$(find rrt_exploration_tutorials)/launch/includes/move_baseSafe.launch">
		<arg name="namespace" value="robot_1" />
	</include> 
    </group>

    <group ns="/robot_2">
    <include file="$(find rrt_exploration_tutorials)/launch/includes/move_baseSafe.launch">
		<arg name="namespace" value="robot_2" />
	</include>
    </group>-->

    <!-- transformation between robots-->
    <!--<node pkg="tf" type="static_transform_publisher" name="robot2_to_robot1" args="1 0 0 0 0 0 /robot_1/map /robot_2/map 20" />-->

    <!-- Map megring (know inital position case)-->
    <!--<include file="$(find rrt_exploration_tutorials)/launch/includes/initposes.launch"/>-->

    <!--<include file="$(find rrt_exploration_tutorials)/launch/includes/map_merge.launch"/>-->


    <!-- startup move_base node -->
    <!--<include file="$(find stdr_move_base)/launch/stdr_move_base.launch" />-->
    
    <!-- startup amcl node -->
    <!-- <include file="$(find stdr_amcl)/launch/stdr_amcl.launch" /> -->
</launch>

