minimal.launch

<launch>
    <!-- Turtlebot -->
    <arg name="base"              default="$(env TURTLEBOT_BASE)"         doc="mobile base type [create, roomba]"/>
    <arg name="stacks"            default="$(env TURTLEBOT_STACKS)"       doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
    <arg name="3d_sensor"         default="$(env TURTLEBOT_3D_SENSOR)"    doc="3d sensor types [kinect, asux_xtion_pro]"/>
    <arg name="simulation"        default="$(env TURTLEBOT_SIMULATION)"   doc="set flags to indicate this turtle is run in simulation mode."/>
    <arg name="serialport"        default="/dev/input/kobuki"  doc="used by create to configure the port it is connected on [/dev/input/kobuki]"/>

    <!-- Activate Mobile-Base (true), Arm (true), Head (true), Body (true) -->
    <!-- IMPORTANT: If using both arms, set to false individual arms -->
   <arg name="enable_mb"       default="true"/>
   <arg name="enable_arm"      default="true"/>
   <arg name="enable_r_arm"    default="false"/>
   <arg name="enable_l_arm"    default="false"/>
   <arg name="enable_head"     default="true"/>
   <arg name="enable_body"     default="true"/>

    <!-- param -->
    <param name="/use_sim_time" value="$(arg simulation)"/>
    <param name="/proportional_control" type="double" value="0.10"/>
    <param name="/derivation_control" type="double" value="0.40"/>
    <param name="/integral_control" type="double" value="0.80"/>

    <!-- Turtlebot -->
    <group if="$(eval arg('enable_mb'))">
        <include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
        <arg name="base"       value="$(arg base)" />
        <arg name="serialport" value="$(arg serialport)" />
    </include>
    </group>

    <!--URG-->
    <include file="$(find sobit_mini_bringup)/launch/urg.launch"/>

    <include file="$(find sobit_mini_control)/launch/sobit_mini_control.launch">
        <arg name="enable_arm"    value="$(arg enable_arm)"/>
        <arg name="enable_r_arm"  value="$(arg enable_r_arm)"/>
        <arg name="enable_l_arm"  value="$(arg enable_l_arm)"/>
        <arg name="enable_head"   value="$(arg enable_head)"/>
        <arg name="enable_body"   value="$(arg enable_body)"/>
    </include>

</launch>