<?xml version="1.0"?>

<!--Launch file for Teleoperating NAO project-->

<launch>
    <!-- condition for rviz to be started at launch-->
    <?ignore
    <arg name="gui" default="false" />
    <param name="use_gui" value="$(arg gui)"/>

    <!-- aruco detector node-->
    <node name="aruco_detector" pkg="teleoperation" type="aruco_detector"/>

    <!-- aruco effector node, currently commented out-->
    <?ignore
    <node name="aruco_effector" pkg="teleoperation" type="aruco_effector"/>
    ?>

    <!-- speech recognition and response node-->
    <node name="speech" pkg="teleoperation" type="speech"/>

    <!-- open rviz window showing nao -->
    <node name="rviz_back" pkg="rviz" type="rviz" args =
        " -d $(find teleoperation)/launch/rviz_config/nao.rviz"/>

    <!-- open rviz window showing nao from its right side -->
    <node name="rviz_right" pkg="rviz" type="rviz"
        args=" -d $(find teleoperation)/launch/rviz_config/nao_right.rviz"/>

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

</launch>
