stretch.launch

<launch>

  <arg name="lidar_odom" default="true"  doc="whether the odom TF is estimated with lidar odometry fused, or just wheel odometry" />
  <arg name="respeaker"  default="true"  doc="whether to launch the respeaker microphone array/speaker drivers" />
  <arg name="rviz"       default="false" doc="whether to show Rviz" />

  <!-- STRETCH DRIVER -->
  <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true" unless="$(arg lidar_odom)" />
  <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true" />

  <!-- D435i CAMERA -->
  <include file="$(find stretch_core)/launch/stretch_realsense.launch" pass_all_args="true" />

  <!-- LASER RANGE FINDER + SCAN MATCHER ODOMETRY -->
  <include file="$(find stretch_core)/launch/rplidar.launch" if="$(arg lidar_odom)" />
  <include file="$(find stretch_core)/launch/stretch_scan_matcher.launch" if="$(arg lidar_odom)" />

  <!-- RESPEAKER MICROPHONE ARRAY -->
  <group ns="stretch">
    <include file="$(find respeaker_ros)/launch/respeaker.launch" if="$(arg respeaker)" />
  </group>

  <!-- VISUALIZE -->
  <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/stretch.rviz" if="$(arg rviz)" />

</launch>