<commit_before><launch>

    <arg name="map_file" default="$(find scrubber_decontamination)/extra/map.yaml"/>
    <arg name="world_file" default="$(find scrubber_decontamination)/extra/map.world"/>
    <arg name="initial_pose_x" default="-92.0"/>
    <arg name="initial_pose_y" default="-90.0"/>
    <arg name="initial_pose_a" default="0.0"/>

<!--         position: 
      x: -92.1255185573
      y: -89.5146291644
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0862777984368
      w: 0.99627111847
 -->

    <remap from="scrubber/map" to="map"/>
    <group ns="scrubber">

        
        <!-- <include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"></include> -->
        <include file="$(find turtlebot_bringup)/launch/minimal.launch"></include>
        <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"></include>

    </group>

    <!-- <launch>
        <param name="robot_description" command="cat $(find packagename)/model.xml" />
    </launch> -->

   <!--  <node pkg="tf" type="static_transform_publisher" name="tb_odom_map"
    args="-90.0 -90.0 0.0 0.0 0.0 0.0 /map /odom 500" />  -->

    <!--  ************** Navigation  ***************  -->
   <!-- <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/> -->

 
   <include file="$(find scrubber_decontamination)/launch/scrubber_amcl.launch">
     <arg name="scan_topic" value="scrubber/scan"/>
     <arg name="use_map_topic" value="true"/>
     <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
     <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
     <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
     <arg name="broadcast_tf"   value="true"/>
   </include>




</launch><commit_msg>Added some tb launch files.<commit_after><launch>

    <arg name="map_file" default="$(find scrubber_decontamination)/extra/map.yaml"/>
    <arg name="world_file" default="$(find scrubber_decontamination)/extra/map.world"/>
    <arg name="initial_pose_x" default="-92.0"/>
    <arg name="initial_pose_y" default="-90.0"/>
    <arg name="initial_pose_a" default="0.0"/>

<!--         position: 
      x: -92.1255185573
      y: -89.5146291644
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0862777984368
      w: 0.99627111847
 -->

    <remap from="scrubber/map" to="map"/>
    <group ns="scrubber">

        
        <!-- <include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"></include> -->
        <include file="$(find turtlebot_bringup)/launch/minimal.launch"></include>
        <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"></include>

    </group>

    <!-- <launch>
        <param name="robot_description" command="cat $(find packagename)/model.xml" />
    </launch> -->

   <!--  <node pkg="tf" type="static_transform_publisher" name="tb_odom_map"
    args="-90.0 -90.0 0.0 0.0 0.0 0.0 /map /odom 500" />  -->

    <!--  ************** Navigation  ***************  -->
   <!-- <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/> -->

   <group ns="scrubber">
   <include file="$(find scrubber_decontamination)/launch/scrubber_amcl.launch">
     <arg name="scan_topic" value="scan"/>
     <arg name="use_map_topic" value="true"/>
     <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
     <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
     <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
     <arg name="broadcast_tf"   value="true"/>
   </include>
   </group>

   <remap from="/scrubber/map" to="map"/>



</launch>
{'fraction_non_alphanumeric': 0.20193905817174515, 'fraction_numerical': 0.04542936288088643, 'mean_word_length': 3.1793981481481484, 'pattern_counts': {'":': 0, '<': 76, '<?xml version=': 0, '>': 76, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 4}, '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': '821101', 'n_tokens_mistral': 1390, 'n_tokens_neox': 1203, 'n_words': 207}