<commit_before><!-- Bringup file for the robot -->
<launch>

  <arg name="have_kinect"		default="true"/>
  <arg name="have_boom"			default="true"/>
  <arg name="have_oryx_arm" 	default="false"/>
  
  <arg name="payload" 			default="boom"/> 
  <arg name="kinect_devname" 	default="kinect"/> <!-- obsolate-->

  <arg name="base_cameras_en" 	value="true"/>	<!--camera_enable flag-->
  <arg name="remote_map" 	value="false"/>			<!--launch rtabmap?-->
  
  <!-- Nodes -->
  
  <!-- Base Hardware -->
  <include file="$(find walrus_base_hw)/launch/walrus_base_hw.launch" />
  
  <!-- Boomboard -->
  <node name="boom" pkg="walrus_boomboard_driver" type="walrus_boomboard_node" respawn="true" respawn_delay="5" if="$(arg have_boom)">
  
  	<remap from="$(arg payload)/joint_states" to="joint_states" />
  	<param name="controller_rate" value="50.0" type="double" />
  	<rosparam command="load" file="$(find walrus_boomboard_driver)/config/boomboard_param.yaml" />
  </node>
  
  
  <!--If we don't have a boom attached but have a kinect -->
  <node name="boom" pkg="walrus_boomboard_driver" type="dummy_boom_state_publisher" respawn="true" respawn_delay="5" unless="$(arg have_boom)">
  </node>
  <!-- Kinect if="$(arg have_boom)"-->

  <include file="$(find walrus_bringup)/launch/includes/kinect_bringup.launch" if="$(arg have_kinect)">
  	<arg name="device" 		value="$(arg kinect_devname)"/><commit_msg>driver sided mapping implemented 	modified:   walrus_bringup/launch/robot.launch<commit_after><!-- Bringup file for the robot -->
<launch>

  <arg name="have_kinect"		default="true"/>
  <arg name="have_boom"			default="true"/>
  <arg name="have_oryx_arm" 	default="false"/>
  
  <arg name="payload" 			default="boom"/> 
  <arg name="kinect_devname" 	default="kinect"/> <!-- obsolate-->

  <arg name="base_cameras_en" 	value="true"/>	<!--camera_enable flag-->
  <arg name="remote_map" 	value="false"/>	 <!--launch rtabmap?--> <!--This gets double checked, but *whispers* It's OK"-->
  
  <!-- Nodes -->
  
  <!-- Base Hardware -->
  <include file="$(find walrus_base_hw)/launch/walrus_base_hw.launch" />
  
  <!-- Boomboard -->
  <node name="boom" pkg="walrus_boomboard_driver" type="walrus_boomboard_node" respawn="true" respawn_delay="5" if="$(arg have_boom)">
  
  	<remap from="$(arg payload)/joint_states" to="joint_states" />
  	<param name="controller_rate" value="50.0" type="double" />
  	<rosparam command="load" file="$(find walrus_boomboard_driver)/config/boomboard_param.yaml" />
  </node>
  
  
  <!--If we don't have a boom attached but have a kinect -->
  <node name="boom" pkg="walrus_boomboard_driver" type="dummy_boom_state_publisher" respawn="true" respawn_delay="5" unless="$(arg have_boom)">
  </node>
  <!-- Kinect if="$(arg have_boom)"-->

  <include file="$(find walrus_bringup)/launch/includes/kinect_bringup.launch" if="$(arg have_kinect)">
  	<arg name="device" 		value="$(arg kinect_devname)"/>
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