<?xml version="1.0"?>

<!--Launch file for Test of teleoperating NAO project-->

<launch>

    <include file="$(find teleoperation)/launch/sensoric.launch"/>

    <arg name="autoimitate" default="--no-autoimitate"/>
    <arg name="controller" default="dumb"/>

    <node name="masterloop" pkg="teleoperation" type="masterloop.py"
        output="screen" args="$(arg autoimitate)"/>
    <node name="hand_ler" pkg="teleoperation" type="hand_ler.py"/>
    <node name="imitator" pkg="teleoperation" type="imitator.py"
        output="screen" args="--controller $(arg controller)"/>
    <node name="walker" pkg="teleoperation" type="walker.py"/>
    <node name="fall_detector" pkg="teleoperation" type="fall_detector.py"/>

    <!--
    <node name="human" pkg="teleoperation" type="rviz_human"/>

    <node name="rviz_nao" pkg="rviz" type="rviz" args =
        " -d $(find teleoperation)/launch/rviz_config/nao.rviz"/>

    <node name="rviz_human" pkg="rviz" type="rviz"
        args=" -d $(find teleoperation)/launch/rviz_config/human.rviz"/>
    -->

</launch>
