<?xml version="1.0"?>
<launch>
  <param name="gazebo" value="false" type="bool" />
  <param name="gazebo_robot_name" value="humanoid_robot_intelligence_control_system" />

  <param name="offset_file_path" value="$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml" />
  <param name="robot_file_path" value="$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot" />
  <param name="init_file_path" value="$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml" />
  <param name="device_name" value="/dev/ttyUSB0" />

  <param name="/humanoid_robot_intelligence_control_system/direct_control/default_moving_time" value="0.04" />
  <param name="/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle" value="90" />

  <!-- HUMANOID_ROBOT Manager -->
  <node pkg="humanoid_robot_intelligence_control_system_manager" type="humanoid_robot_intelligence_control_system_manager" name="humanoid_robot_intelligence_control_system_manager" output="screen">
    <param name="angle_unit" value="30" />
  </node>

  <!-- HUMANOID_ROBOT Localization -->
  <node pkg="humanoid_robot_intelligence_control_system_localization" type="humanoid_robot_intelligence_control_system_localization" name="humanoid_robot_intelligence_control_system_localization" output="screen" />

  <!-- HUMANOID_ROBOT Read-Write demo -->
  <node pkg="humanoid_robot_intelligence_control_system_read_write_demo" type="read_write" name="humanoid_robot_intelligence_control_system_read_write" output="screen" />
</launch>
