taser.launch

<launch>

  <!-- see http://www.ros.org/wiki/roslaunch/XML/machine -->
	<machine name="taser" address="tams61" default="true"/>

  <!-- attributes of the <node>-element:
		name			is the nodename in the ROS system
		pkg				is the package name
		type			is the name of the executable
		args			are command-line arguments passed to the executable
		respawn		will make the node respawn on exit
		machine		is a machine name. Machines are defined separately.
		required	if this node dies, this attribute kills the entire roslaunch
		cwd				working directory, a value of "node" means cwd of executable
	-->

	<node machine="taser" name="iowarrior_server" pkg="iowarrior" type="iowarrior_server" required="true">
		<rosparam file="$(find iowarrior)/parameters.yaml" command="load" />
	</node>

	<node pkg="tf" type="static_transform_publisher" name="transform_broadcaster_laserscanner_front" args="0 0 0 0 0 0 platform frame_laserscanner_front 100" />
	<node pkg="tf" type="static_transform_publisher" name="transform_broadcaster_laserscanner_rear" args="0 0 0 3 0 0 platform frame_laserscanner_rear 100" />

	<node machine="taser" name="remotecontrol_server" pkg="remotecontrol" type="remotecontrol_server" required="true" />

	<node machine="taser" name="drive" pkg="drive" type="drive_server" args="" required="true">
	  <rosparam file="$(find drive)/parameters.yaml" command="load" />
	</node>

<!--
	<node machine="taser" name="ptu_server" pkg="ptu" type="ptu_server" required="true" />
-->

	<node machine="taser" name="battery_server" pkg="battery" type="battery_server" required="true" />

	<node machine="taser" name="laserscanner_server_name_from_launchfile_front" pkg="laserscanner" args="eth0 front"  type="laserscanner_server" required="true" />
	<node machine="taser" name="laserscanner_server_name_from_launchfile_rear" pkg="laserscanner" args="eth0 rear"  type="laserscanner_server" required="true" />

  <group if="$(optenv REMOTECONTROL_TO_PTU false)">
	  <node machine="taser" name="remotecontrol_to_ptu" pkg="remotecontrol_to_ptu" type="remotecontrol_to_ptu" required="true" args="rel" />
	</group>
	
  <group if="$(optenv REMOTECONTROL_TO_DRIVE false)">
	  <node machine="taser" name="remotecontrol_to_drive" pkg="remotecontrol_to_drive" type="remotecontrol_to_drive" required="true" />
	</group>

</launch>