<commit_before><launch>

  <arg name="dir_path" default="$(find bwi_kr)/config/simulation" />
  <arg name="map_file" default="$(find utexas_gdc)/maps/3ne.yaml" />
  <arg name="location_file" default="$(arg dir_path)/locations.yaml" />
  <arg name="door_file" default="$(arg dir_path)/doors.yaml" />

  <!-- launch gazebo simulation environment and map server -->
  <include file="$(find utexas_gdc)/launch/3ne.launch" />
  <include file="$(find utexas_gdc)/launch/3ne_map.launch" />

  <!-- launch the base robot + autonomous navigation -->
  <include file="$(find segbot_gazebo)/launch/segbot_mobile_base.launch">
    <arg name="launch_localization" value="true" />
    <arg name="use_fake_localization" value="true" />
    <arg name="launch_move_base" value="true" />
    <arg name="use_full_gazebo_model" value="false" />
    <arg name="x" value="22" />
    <arg name="y" value="11.5" />
  </include>
  
  <!-- launch logical navigator -->
  <node name="segbot_logical_navigator" pkg="segbot_logical_translator"
        type="segbot_logical_navigator">
    <param name="map_file" value="$(arg map_file)" />
    <param name="door_file" value="$(arg door_file)" />
    <param name="location_file" value="$(arg location_file)" />
  </node>

  <!-- launch the simulation door handler -->
  <include file="$(find segbot_simulation_apps)/launch/door_handler.launch">
    <arg name="door_file" value="$(arg door_file)" />
  </include>

  <!-- launch rviz for navigation visualization -->
  <include file="$(find segbot_navigation)/launch/rviz.launch" />

</launch>
<commit_msg>testing the new location and door files<commit_after><launch>

  <arg name="dir_path" default="$(find bwi_kr)/config/simulation" />
  <arg name="map_file" default="$(find utexas_gdc)/maps/3ne.yaml" />
  <arg name="location_file" default="$(find utexas_gdc)/maps/locations_simulator.yaml" />
  <arg name="door_file" default="$(find utexas_gdc)/maps/doors_simulator.yaml" />

  <!-- launch gazebo simulation environment and map server -->
  <include file="$(find utexas_gdc)/launch/3ne.launch" />
  <include file="$(find utexas_gdc)/launch/3ne_map.launch" />

  <!-- launch the base robot + autonomous navigation -->
  <include file="$(find segbot_gazebo)/launch/segbot_mobile_base.launch">
    <arg name="launch_localization" value="true" />
    <arg name="use_fake_localization" value="true" />
    <arg name="launch_move_base" value="true" />
    <arg name="use_full_gazebo_model" value="false" />
    <arg name="x" value="22" />
    <arg name="y" value="11.5" />
  </include>
  
  <!-- launch logical navigator -->
  <node name="segbot_logical_navigator" pkg="segbot_logical_translator"
        type="segbot_logical_navigator">
    <param name="map_file" value="$(arg map_file)" />
    <param name="door_file" value="$(arg door_file)" />
    <param name="location_file" value="$(arg location_file)" />
  </node>

  <!-- launch the simulation door handler -->
  <include file="$(find segbot_simulation_apps)/launch/door_handler.launch">
    <arg name="door_file" value="$(arg door_file)" />
  </include>

  <!-- launch rviz for navigation visualization -->
  <include file="$(find segbot_navigation)/launch/rviz.launch" />

</launch>

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{'dir': 'git-commits-cleaned', 'id': '4613082', 'n_tokens_mistral': 1113, 'n_tokens_neox': 1036, 'n_words': 206}