<commit_before><?xml version="1.0"?>

<launch>
  <arg name="scan_topic" default="scan"/>
  <arg name="joy_config" default="elecom_joy"/>
  <arg name="joy_dev" default="/dev/input/js0"/>
  <arg name="waypoints_file" default="$(find orne_navigation_executor)/waypoints_cfg/waypoints.yaml"/>
  <arg name="save_joy_button" default="0"/>

  <node name="waypoints_saver" pkg="waypoints_navigation" type="waypoints_saver" output="screen">
    <param name="save_joy_button" value="$(arg save_joy_button)"/>
    <param name="filename" value="$(arg waypoints_file)"/> 
    <remap from="waypoints_joy" to="joy"/>
    <remap from="waypoints_viz" to="clicked_point"/>
    <remap from="finish_pose" to="move_base_simple/goal"/>
  </node>
  
  <include file="$(find icart_mini_driver)/launch/teleop_joy.launch">
    <arg name="joy_config" value="$(arg joy_config)"/>
    <arg name="joy_dev" value="$(arg joy_dev)"/>
  </include><commit_msg>refix #164 for build_map_teleop.launch<commit_after><?xml version="1.0"?>

<launch>
  <arg name="scan_topic" default="scan"/>
  <arg name="joy_config" default="elecom_joy"/>
  <arg name="joy_dev" default="/dev/input/js0"/>
  <arg name="waypoints_file" default="$(find orne_navigation_executor)/waypoints_cfg/waypoints.yaml"/>
  <arg name="save_joy_button" default="0"/>

  <node name="waypoints_saver" pkg="fulanghua_waypoints_nav" type="waypoints_saver" output="screen">
    <param name="save_joy_button" value="$(arg save_joy_button)"/>
    <param name="filename" value="$(arg waypoints_file)"/> 
    <remap from="waypoints_joy" to="joy"/>
    <remap from="waypoints_viz" to="clicked_point"/>
    <remap from="finish_pose" to="move_base_simple/goal"/>
  </node>
  
  <include file="$(find icart_mini_driver)/launch/teleop_joy.launch">
    <arg name="joy_config" value="$(arg joy_config)"/>
    <arg name="joy_dev" value="$(arg joy_dev)"/>
  </include>
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