<?xml version="1.0"?>
<launch>
    <arg name="waypoints_file" default="$(find waypoint_nav)/waypoints_cfg/waypoints.yaml"/>
    <arg name="cmd_vel_topic_in" default="/move_base/cmd_vel"/>
    <arg name="cmd_vel_topic_out" default="/wp_nav/cmd_vel"/>
    <arg name="robot_frame"       default="base_link"/>
    <arg name="max_vel_param"     default="/move_base/TrajectoryPlannerROS/max_vel_x"/>
    <arg name="min_vel_param"     default="/move_base/TrajectoryPlannerROS/min_vel_x"/>


    <node name="waypoint_nav" pkg="waypoint_nav" type="waypoint_nav" output="screen">
        <param name="filename" value="$(arg waypoints_file)"/>
        <param name="robot_frame" value="$(arg robot_frame)"/>
        <remap from="/cmd_vel" to="$(arg cmd_vel_topic_out)"/>
    </node>


    <node name="velocity_controller" pkg="waypoint_nav" type="velocity_controller" output="screen">
        <remap from="/cmd_vel_in" to="$(arg cmd_vel_topic_in)"/>
        <remap from="/cmd_vel_out" to="$(arg cmd_vel_topic_out)"/>
        <param name="max_vel_param" value="$(arg max_vel_param)"/>
        <param name="min_vel_param" value="$(arg min_vel_param)"/>
    </node>
</launch>
