<commit_before><launch>
    <rosparam command="load" ns="tfd_modules" file="$(find tfd_modules)/config/tfd_modules_params_timeout_5min_nontemporal.yaml" />

    <!-- start executive -->
    <node pkg="continual_planning_executive" type="continual_planning_executive" args="" respawn="false" name="continual_planning_executive" output="screen" >
        <param name="domain_file" value="$(find planner_benchmarks)/modular/tidyup/domain_modules.pddl" />

        <param name="locations" value="$(find tidyup_actions)/launch/locations.dat" />

        <!-- tolerance to use when determining if navigation has reached a target (i.e. we are AT a target)
            if nav_target_tolerance_relative_to_move_base is true, nav_base_local_planner_ns should give
            the namespace that holds the xy_goal_tolerance parameter the base_local_planner uses.
        -->
        <param name="nav_target_tolerance_xy" value="0.25" />
        <param name="nav_target_tolerance_yaw" value="0.25" />
        <param name="nav_target_tolerance_relative_to_move_base" value="false" />
        <param name="nav_base_local_planner_ns" value="/move_base/TrajectoryPlannerROS" />

        <rosparam command="load" file="$(find tidyup_actions)/config/tidyup_actions.yaml" />
        <rosparam command="load" file="$(find tfd_modules)/config/tfdm_interface.yaml" />
        <!-- navstack_init "fixed_frame" "goal_tolerance used in planner requests" 
             "goal_tolerance is relative to move_base's xy_goal_tolerance either
             0 for false or the namespace to base_local_planner params" 
             1 means - guess namespace -->
        <rosparam param="planner_options">
            - (fullbody_navstack_init@libplanner_modules_pr2.so /map 0.05 1)
            - (putdown_init@libputdown_modules.so /map)
        </rosparam>
        <env name="LD_LIBRARY_PATH" value="$(find planner_modules_pr2)/lib:$(optenv LD_LIBRARY_PATH)" />
    </node>

</launch>
<commit_msg>continual planning tidyup launch has optional gui:=true<commit_after><launch>

    <arg name="gui" default="0" />

    <rosparam command="load" ns="tfd_modules" file="$(find tfd_modules)/config/tfd_modules_params_timeout_5min_nontemporal.yaml" />

    <!-- start executive -->
    <node pkg="continual_planning_executive" type="continual_planning_executive" args="" respawn="false" name="continual_planning_executive" output="screen" >
        <param name="domain_file" value="$(find planner_benchmarks)/modular/tidyup/domain_modules.pddl" />

        <param name="locations" value="$(find tidyup_actions)/launch/locations.dat" />

        <!-- tolerance to use when determining if navigation has reached a target (i.e. we are AT a target)
            if nav_target_tolerance_relative_to_move_base is true, nav_base_local_planner_ns should give
            the namespace that holds the xy_goal_tolerance parameter the base_local_planner uses.
        -->
        <param name="nav_target_tolerance_xy" value="0.25" />
        <param name="nav_target_tolerance_yaw" value="0.25" />
        <param name="nav_target_tolerance_relative_to_move_base" value="false" />
        <param name="nav_base_local_planner_ns" value="/move_base/TrajectoryPlannerROS" />

        <rosparam command="load" file="$(find tidyup_actions)/config/tidyup_actions.yaml" />
        <rosparam command="load" file="$(find tfd_modules)/config/tfdm_interface.yaml" />
        <!-- navstack_init "fixed_frame" "goal_tolerance used in planner requests" 
             "goal_tolerance is relative to move_base's xy_goal_tolerance either
             0 for false or the namespace to base_local_planner params" 
             1 means - guess namespace -->
        <rosparam param="planner_options">
            - (fullbody_navstack_init@libplanner_modules_pr2.so /map 0.05 1)
            - (putdown_init@libputdown_modules.so /map)
        </rosparam>
        <env name="LD_LIBRARY_PATH" value="$(find planner_modules_pr2)/lib:$(optenv LD_LIBRARY_PATH)" />
    </node>

    <node if="$(arg gui)" pkg="continual_planning_monitor" type="continual_planning_monitor" name="continual_planning_monitor" />

</launch>

{'fraction_non_alphanumeric': 0.11484526112185686, 'fraction_numerical': 0.007495164410058027, 'mean_word_length': 3.760644418872267, 'pattern_counts': {'":': 0, '<': 43, '<?xml version=': 0, '>': 43, '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': '3135294', 'n_tokens_mistral': 1359, 'n_tokens_neox': 1267, 'n_words': 255}