<commit_before><launch>
  <arg name="semantic_map_name"/>
  <arg name="move_config_file" default="$(find pepper_move_base)/conf/distances.yaml"/>
  <arg name="qual_config_file" default="$(find pepper_world_state_kb)/conf/parsing.yaml"/>
  
  <include file="$(find pnp_ros)/launch/pnp_ros.launch"/>
  
  <node name="pnpgen" pkg="pnpgen_ros" type="pnpgen_server" output="screen" respawn="true"/>
  <node name="rosplan_bridge" pkg="rosplan_pnp_bridge" type="pnp_bridge.py" output="screen" respawn="true"/>
  <node name="check_human_existance" pkg="pepper_check_human_exists" type="check_human_exists.py" output="screen" respawn="true"/>
  <node name="planning_world_state_manager" pkg="pepper_world_state_kb" type="world_state.py" output="screen" respawn="true">
    <param name="config_file" type="string" value="$(arg qual_config_file)"/>
  </node>
  <node name="say" pkg="pepper_speak" type="speak.py" output="screen" respawn="true"/>

  <include file="$(find pepper_move_base)/launch/pepper_move_base.launch">
    <arg name="config_file" value="$(arg move_config_file)" />    
  </include>
  <include file="$(find pepper_route_description)/launch/pepper_route_description.launch">
    <arg name="semantic_map_name" value="$(arg semantic_map_name)" />    
  </include>
  <include file="$(find pepper_engage_human)/launch/pepper_engage_human.launch"/>

</launch><commit_msg>Renaming parameter<commit_after><launch>
  <arg name="semantic_map_name"/>
  <arg name="move_config_file" default="$(find pepper_move_base)/conf/distances.yaml"/>
  <arg name="kb_config_file" default="$(find pepper_world_state_kb)/conf/parsing.yaml"/>
  
  <include file="$(find pnp_ros)/launch/pnp_ros.launch"/>
  
  <node name="pnpgen" pkg="pnpgen_ros" type="pnpgen_server" output="screen" respawn="true"/>
  <node name="rosplan_bridge" pkg="rosplan_pnp_bridge" type="pnp_bridge.py" output="screen" respawn="true"/>
  <node name="check_human_existance" pkg="pepper_check_human_exists" type="check_human_exists.py" output="screen" respawn="true"/>
  <node name="planning_world_state_manager" pkg="pepper_world_state_kb" type="world_state.py" output="screen" respawn="true">
    <param name="config_file" type="string" value="$(arg kb_config_file)"/>
  </node>
  <node name="say" pkg="pepper_speak" type="speak.py" output="screen" respawn="true"/>

  <include file="$(find pepper_move_base)/launch/pepper_move_base.launch">
    <arg name="config_file" value="$(arg move_config_file)" />    
  </include>
  <include file="$(find pepper_route_description)/launch/pepper_route_description.launch">
    <arg name="semantic_map_name" value="$(arg semantic_map_name)" />    
  </include>
  <include file="$(find pepper_engage_human)/launch/pepper_engage_human.launch"/>

</launch>
{'fraction_non_alphanumeric': 0.1681834728795049, 'fraction_numerical': 0.0, 'mean_word_length': 7.178571428571429, 'pattern_counts': {'":': 0, '<': 43, '<?xml version=': 0, '>': 43, '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': '4224819', 'n_tokens_mistral': 990, 'n_tokens_neox': 917, 'n_words': 140}