<commit_before><launch>
  <rosparam command="load" file="$(find uranus_dp)/config/robots/maelstrom.yaml"/>
  <rosparam command="load" file="$(find uranus_dp)/config/environments/trondheim_freshwater.yaml"/>

  <node name="setpoint_processing" pkg="uranus_dp" type="setpoint_processing" output="screen"/>
  <node name="controller"          pkg="uranus_dp" type="controller"          output="screen"/>
  <node name="allocator"           pkg="uranus_dp" type="allocator"           output="screen"/>
  <node name="estimator"           pkg="uranus_dp" type="estimator"           output="screen"/>
</launch><commit_msg>Add thruster yaml to launch<commit_after><launch>
  <rosparam command="load" file="$(find uranus_dp)/config/robots/maelstrom.yaml"/>
  <rosparam command="load" file="$(find uranus_dp)/config/environments/trondheim_freshwater.yaml"/>
  <rosparam command="load" file="$(find motor_interface)/config/thruster_T100.yaml"/>

  <node name="setpoint_processing" pkg="uranus_dp" type="setpoint_processing" output="screen"/>
  <node name="controller"          pkg="uranus_dp" type="controller"          output="screen"/>
  <node name="allocator"           pkg="uranus_dp" type="allocator"           output="screen"/>
  <node name="estimator"           pkg="uranus_dp" type="estimator"           output="screen"/>
</launch>
{'fraction_non_alphanumeric': 0.16214177978883862, 'fraction_numerical': 0.0022624434389140274, 'mean_word_length': 4.416326530612245, 'pattern_counts': {'":': 0, '<': 20, '<?xml version=': 0, '>': 20, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '3608934', 'n_tokens_mistral': 441, 'n_tokens_neox': 402, 'n_words': 67}