<commit_before><launch>
  <!-- map_server -->
  <node pkg="map_server" type="map_server" name="map_server" args="$(arg mapfile)" />

  <!-- amcl -->
  <include file="$(find fifth_robot_2dnav)/launch/amcl_diff.launch" />

  <!-- ros_waypoint_generator -->
  <node pkg="ros_waypoint_generator" type="ros_waypoint_generator" name="ros_waypoint_generator" >
    <param name="dist_th" value="10.0" />
    <param name="yaw_th"  value="1.05" />
  </node>

  <!-- rviz -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find fifth_robot_description)/rviz/gazebo_3d.rviz" />
  
  <!-- rosbag -->
  <node pkg="rosbag" type="play" name="playbag"
        args="--clock $(arg bagfile)" output="screen" />
</launch><commit_msg>Include pointcloud converter into waypoint generator launch<commit_after><launch>
  <!-- map_server -->
  <node pkg="map_server" type="map_server" name="map_server" args="$(arg mapfile)" />

  <include file="$(find fifth_robot_launcher)/launch/topics/pointcloud_to_laserscan.launch" />

  <!-- amcl -->
  <include file="$(find fifth_robot_2dnav)/launch/amcl_diff.launch" />

  <!-- ros_waypoint_generator -->
  <node pkg="ros_waypoint_generator" type="ros_waypoint_generator" name="ros_waypoint_generator" >
    <param name="dist_th" value="10.0" />
    <param name="yaw_th"  value="1.05" />
  </node>

  <!-- rviz -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find fifth_robot_description)/rviz/gazebo_3d.rviz" />
  
  <!-- rosbag -->
  <node pkg="rosbag" type="play" name="playbag"
        args="--clock $(arg bagfile)" output="screen" />
</launch>
{'fraction_non_alphanumeric': 0.20037926675094817, 'fraction_numerical': 0.010113780025284451, 'mean_word_length': 4.224422442244224, 'pattern_counts': {'":': 0, '<': 34, '<?xml version=': 0, '>': 34, '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': '986510', 'n_tokens_mistral': 598, 'n_tokens_neox': 561, 'n_words': 92}