<commit_before><?xml version="1.0"?>
<launch>
	<!-- ======================================================================================================================== -->
	<!-- =============================================================== DRL maps -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/ship_walls/ship_walls_cad_5mm.yaml" /> -->
	<arg name="map_file" default="$(find guardian_config)/localization/maps/lab/lab_10mm.yaml" />
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/lab/lab_slam.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/deltamatic/ship_deltamatic_10mm.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/deltamatic/ship_deltamatic_20mm_slam_corner.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/deltamatic/map_delta_back.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/aimen/aimen_20mm.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/valina/valina_20mm_rotated_slam.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/valina/valina_20mm_rotated.yaml" />  -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/valina/valina_20mm_slam.yaml" /> -->
	<!-- <arg name="map_file" default="$(find guardian_config)/localization/maps/lisbon_maker_faire/lmf_20mm.yaml" /> -->


	<!-- ======================================================================================================================== -->
	<!-- =============================================================== Navigation maps -->
	<!--<arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/lab/ship_walls_navigation.yaml" /> --> <!-- this map has windows as obstacles -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/lab/lab_20mm_navigation.yaml" /> -->
	<arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/lab/lab_40mm_navigation.yaml" />
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/deltamatic/ship_interior_corner_navigation_10mm.yaml" /> -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/ship_walls/ship_walls_cad_navigation_20mm.yaml" /> -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/deltamatic/ship_deltamatic_40mm_slam_navigation.yaml" /> -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/aimen/aimen_40mm_navigation_with_tables.yaml" /> -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/valina/valina_40mm_rotated_cad_updated.yaml" /> -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/valina/valina_40mm_cad.yaml" /> -->
	<!-- <arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/lisbon_maker_faire/lmf_40mm_navigation.yaml" /> -->



	<!-- ======================================================================================================================== -->
	<!-- =============================================================== Main configurations -->
	<arg name="initial_2d_map_file_slam" default="$(arg map_file)" />
	<arg name="initial_2d_map_file_navigation" default="$(arg map_file_navigation)" />

	<arg name="robot_initial_x" default="0.0" />
	<arg name="robot_initial_y" default="0.0" />
	<arg name="robot_initial_yaw" default="0.0" />

	<arg name="use_drl" default="true" />
	<arg name="use_slam" default="false" />
	<arg name="use_original_laser_scans_in_slam" default="true" if="$(arg use_slam)" />
	<arg name="use_original_laser_scans_in_slam" default="false" unless="$(arg use_slam)" />
	<arg name="update_navigation_map" default="false" />

	<arg name="use_back_laser_only" default="false" />
	<arg name="use_front_laser_only" default="false" />
	<arg name="use_both_lasers" default="true" />
	<arg name="laserscans_to_pointclouds_topic" default="/guardian/lasers" />

	<arg name="sensor_frame_id" default="base_footprint" if="$(arg use_both_lasers)" />
	<arg name="sensor_frame_id" default="hokuyo_back_laser_link" if="$(arg use_back_laser_only)" />
	<arg name="sensor_frame_id" default="hokuyo_front_laser_link" if="$(arg use_front_laser_only)" />
	<arg name="octomap_sensor_frame_id" default="" if="$(arg use_original_laser_scans_in_slam)" />
	<arg name="octomap_sensor_frame_id" default="$(arg sensor_frame_id)" unless="$(arg use_original_laser_scans_in_slam)" />
	<arg name="laser_scan_topics" default="/guardian/laser_horizontal_back" if="$(arg use_back_laser_only)" />
	<arg name="laser_scan_topics" default="/guardian/laser_tilt_front" if="$(arg use_front_laser_only)" />
	<arg name="laser_scan_topics" default="/guardian/laser_tilt_front+/guardian/laser_horizontal_back" if="$(arg use_both_lasers)" />
	<commit_msg>Cleanup map file paths from guardian_localization.launch<commit_after><?xml version="1.0"?>
<launch>
	<!-- ======================================================================================================================== -->
	<!-- =============================================================== Maps -->
	<arg name="map_file" default="$(find guardian_config)/localization/maps/lab/lab_10mm.yaml" />
	<arg name="map_file_navigation" default="$(find guardian_config)/localization/maps/lab/lab_40mm_navigation.yaml" />


	<!-- ======================================================================================================================== -->
	<!-- =============================================================== Main configurations -->
	<arg name="initial_2d_map_file_slam" default="$(arg map_file)" />
	<arg name="initial_2d_map_file_navigation" default="$(arg map_file_navigation)" />

	<arg name="robot_initial_x" default="0.0" />
	<arg name="robot_initial_y" default="0.0" />
	<arg name="robot_initial_yaw" default="0.0" />

	<arg name="use_drl" default="true" />
	<arg name="use_slam" default="false" />
	<arg name="use_original_laser_scans_in_slam" default="true" if="$(arg use_slam)" />
	<arg name="use_original_laser_scans_in_slam" default="false" unless="$(arg use_slam)" />
	<arg name="update_navigation_map" default="false" />

	<arg name="use_back_laser_only" default="false" />
	<arg name="use_front_laser_only" default="false" />
	<arg name="use_both_lasers" default="true" />
	<arg name="laserscans_to_pointclouds_topic" default="/guardian/lasers" />

	<arg name="sensor_frame_id" default="base_footprint" if="$(arg use_both_lasers)" />
	<arg name="sensor_frame_id" default="hokuyo_back_laser_link" if="$(arg use_back_laser_only)" />
	<arg name="sensor_frame_id" default="hokuyo_front_laser_link" if="$(arg use_front_laser_only)" />
	<arg name="octomap_sensor_frame_id" default="" if="$(arg use_original_laser_scans_in_slam)" />
	<arg name="octomap_sensor_frame_id" default="$(arg sensor_frame_id)" unless="$(arg use_original_laser_scans_in_slam)" />
	<arg name="laser_scan_topics" default="/guardian/laser_horizontal_back" if="$(arg use_back_laser_only)" />
	<arg name="laser_scan_topics" default="/guardian/laser_tilt_front" if="$(arg use_front_laser_only)" />
	<arg name="laser_scan_topics" default="/guardian/laser_tilt_front+/guardian/laser_horizontal_back" if="$(arg use_both_lasers)" />
	
{'fraction_non_alphanumeric': 0.2804423128164135, 'fraction_numerical': 0.007860378363975486, 'mean_word_length': 7.739231664726426, 'pattern_counts': {'":': 0, '<': 104, '<?xml version=': 2, '>': 104, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, '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': '239546', 'n_tokens_mistral': 2511, 'n_tokens_neox': 2334, 'n_words': 296}