<commit_before><launch>
  <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}" />

  <rosparam command="load" file="$(find vortex)/config/robots/manta.yaml"/>
  <rosparam command="load" file="$(find thruster_interface)/config/thruster_terrapin.yaml" />
  <rosparam command="load" file="$(find vortex)/config/environments/trondheim_freshwater.yaml"/>

  <param name="mcu/device" type="string" value="/dev/ttySAC0"/>
  <node pkg="rostopic" type="rostopic" name="mcu_heartbeat" args="pub -r 1 /mcu_heartbeat std_msgs/String '{data: }'" respawn="true" />

  <node pkg="thruster_interface" type="thruster_interface_node.py" name="thruster_interface" output="screen"/>
  <node pkg="mcu_interface"      type="mcu_interface_node"         name="mcu_interface"      output="screen"/>
  <node pkg="vortex_controller"  type="node"                       name="controller"         output="screen"/>
  <node pkg="vortex_allocator"   type="node"                       name="allocator"          output="screen"/>
  <node pkg="vortex_estimator"   type="node"                       name="estimator"          output="screen"/>    

</launch><commit_msg>Launch ms5837_interface.py in manta.launch<commit_after><launch>
  <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}" />

  <rosparam command="load" file="$(find vortex)/config/robots/manta.yaml"/>
  <rosparam command="load" file="$(find thruster_interface)/config/thruster_terrapin.yaml" />
  <rosparam command="load" file="$(find vortex)/config/environments/trondheim_freshwater.yaml"/>

  <param name="mcu/device" type="string" value="/dev/ttySAC0"/>
  <node pkg="rostopic" type="rostopic" name="mcu_heartbeat" args="pub -r 1 /mcu_heartbeat std_msgs/String '{data: }'" respawn="true" />

  <node pkg="sensor_interface"   type="ms5837_interface.py"        name="ms5837_interface"   output="screen"/>
  <node pkg="thruster_interface" type="thruster_interface_node.py" name="thruster_interface" output="screen"/>
  <node pkg="mcu_interface"      type="mcu_interface_node"         name="mcu_interface"      output="screen"/>
  <node pkg="vortex_controller"  type="node"                       name="controller"         output="screen"/>
  <node pkg="vortex_allocator"   type="node"                       name="allocator"          output="screen"/>
  <node pkg="vortex_estimator"   type="node"                       name="estimator"          output="screen"/>    

</launch>
{'fraction_non_alphanumeric': 0.1693679092382496, 'fraction_numerical': 0.006482982171799027, 'mean_word_length': 3.9183266932270917, 'pattern_counts': {'":': 0, '<': 30, '<?xml version=': 0, '>': 30, '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': '7218798', 'n_tokens_mistral': 841, 'n_tokens_neox': 772, 'n_words': 127}