<commit_before><launch>

<node name="irobot_create" pkg="irobot_create" type="driver.py" output="screen" >
	<param name="name" value="irobot_create" />        
	<param name="port" value="/dev/ttyS1" />
	<param name="safety" value="True" />
	<param name="charging" value="False" />
    <param name="autodock" value="0.0" />
</node>


<node name="video1" pkg="camera" type="capture" output="screen">
    <param name="video_device" value="/dev/video6" />
    <param name="width" value="640" />
    <param name="height" value="480" />
    <param name="framerate" value="15" />
    <param name="camera_name" value="left"/>
    <param name="output" value="/video/left/compressed" />
</node>

<node name="video2" pkg="camera" type="capture" output="screen">
    <param name="video_device" value="/dev/video7" />
    <param name="width" value="640" />
    <param name="height" value="480" />
    <param name="framerate" value="15" />
    <param name="camera_name" value="right"/>
    <param name="output" value="/video/right/compressed" />
</node>

<node name="mic1" pkg="audio" type="capture.py" output="screen">
    <param name="device" value="0" />
    <param name="rate" value="16000" />
    <param name="channels" value="1" />
    <param name="buffer_size" value="2048" />
    <param name="mic_name" value="left"/>
    <param name="output" value="/audio/left/raw" />
</node>

<node name="mic2" pkg="audio" type="capture.py" output="screen">
    <param name="device" value="1" />
    <param name="rate" value="16000" />
    <param name="channels" value="1" />
    <param name="buffer_size" value="2048" />
    <param name="mic_name" value="right"/>
    <param name="output" value="/audio/right/raw" />
</node>

<node name="imu" pkg="imu" type="imu_capture" output="screen">
    <param name="outputPos" value="/imu/data_raw" /><commit_msg>Added camera config url's to roomba launch script<commit_after><launch>

<node name="irobot_create" pkg="irobot_create" type="driver.py" output="screen" >
	<param name="name" value="irobot_create" />        
	<param name="port" value="/dev/ttyS1" />
	<param name="safety" value="True" />
	<param name="charging" value="False" />
    <param name="autodock" value="0.0" />
</node>


<node name="video1" pkg="camera" type="capture" output="screen">
    <param name="video_device" value="/dev/video6" />
    <param name="width" value="640" />
    <param name="height" value="480" />
    <param name="framerate" value="15" />
    <param name="camera_name" value="left"/>
    <param name="output" value="/video/left/compressed" />
    <param name="camera_info_url" value="package://camera/calibration/left_calibration.yaml" />
</node>

<node name="video2" pkg="camera" type="capture" output="screen">
    <param name="video_device" value="/dev/video7" />
    <param name="width" value="640" />
    <param name="height" value="480" />
    <param name="framerate" value="15" />
    <param name="camera_name" value="right"/>
    <param name="output" value="/video/right/compressed" />
    <param name="camera_info_url" value="package://camera/calibration/right_calibration.yaml" />
</node>

<node name="mic1" pkg="audio" type="capture.py" output="screen">
    <param name="device" value="0" />
    <param name="rate" value="16000" />
    <param name="channels" value="1" />
    <param name="buffer_size" value="2048" />
    <param name="mic_name" value="left"/>
    <param name="output" value="/audio/left/raw" />
</node>

<node name="mic2" pkg="audio" type="capture.py" output="screen">
    <param name="device" value="1" />
    <param name="rate" value="16000" />
    <param name="channels" value="1" />
    <param name="buffer_size" value="2048" />
    <param name="mic_name" value="right"/>
    <param name="output" value="/audio/right/raw" />
</node>

<node name="imu" pkg="imu" type="imu_capture" output="screen">
    <param name="outputPos" value="/imu/data_raw" />
{'fraction_non_alphanumeric': 0.21221452399281499, 'fraction_numerical': 0.02412111880934052, 'mean_word_length': 4.536931818181818, 'pattern_counts': {'":': 0, '<': 89, '<?xml version=': 0, '>': 89, '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': '4863683', 'n_tokens_mistral': 1379, 'n_tokens_neox': 1318, 'n_words': 265}