<commit_before><?xml version="1.0"?>

<!--
This launch file starts a series of nodes for the Picknplace project.
MoveIt and motion planning nodes are initialized.

-->

<launch>
      <node pkg="tf" type="static_transform_publisher" name="base_frame_bc"
      args="0 0 0 0 0 0 $(env ROBOT_NAME)/base_footprint base_footprint 1" />


	<!-- move it interface -->
    <include file="$(find youbot_moveit_config)/launch/move_group.launch" ns="$(env ROBOT_NAME)">
  		<arg name="publish_monitored_planning_scene" value="true" />
 	</include>

    <!-- launch motion planning and other necessary nodes -->
    <include file="$(find youbot_picknplace)/launch/motion_planning.launch" ns="$(env ROBOT_NAME)"/>

    <!-- launch gazebo world -->
    <!-- <include file="$(find youbot_picknplace)/launch/camera.launch" /> -->

</launch><commit_msg>increased freq of static publisher from 1 to 10hz<commit_after><?xml version="1.0"?>

<!--
This launch file starts a series of nodes for the Picknplace project.
MoveIt and motion planning nodes are initialized.

-->

<launch>
      <node pkg="tf" type="static_transform_publisher" name="base_frame_bc"
      args="0 0 0 0 0 0 $(env ROBOT_NAME)/base_footprint base_footprint 10" />


	<!-- move it interface -->
    <include file="$(find youbot_moveit_config)/launch/move_group.launch" ns="$(env ROBOT_NAME)">
  		<arg name="publish_monitored_planning_scene" value="true" />
 	</include>

    <!-- launch motion planning and other necessary nodes -->
    <include file="$(find youbot_picknplace)/launch/motion_planning.launch" ns="$(env ROBOT_NAME)"/>

    <!-- launch gazebo world -->
    <!-- <include file="$(find youbot_picknplace)/launch/camera.launch" /> -->

</launch>
{'fraction_non_alphanumeric': 0.15312682641729983, 'fraction_numerical': 0.012857977790765635, 'mean_word_length': 4.050147492625369, 'pattern_counts': {'":': 0, '<': 31, '<?xml version=': 2, '>': 31, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, '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': '2764975', 'n_tokens_mistral': 583, 'n_tokens_neox': 515, 'n_words': 141}