<?xml version = "1.0"?>
<launch>
	<param name ="/use_sim_time" value="true"/>	<!-- set to false if on real-world -->

	<arg name="gui" default="True" />
	<param name="use_gui" value="$(arg gui)"/>
	<param name="robot_description" command="cat $(find o2s_robot)/urdf/o2s_robot.xacro" />
	
	<!-- ***** Setting up the transformation configuration (the relationships between the coordinate frames ***** -->
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> 
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> 
	
	<!--
       <node pkg ="tf" 	type="static_transform_publisher" 	name="odom_to_base_link"  	args="0.0 0.0 0.0 0.0 0.0 0.0 /odom /base_link 40"/>
       <node pkg ="tf" 	type="static_transform_publisher" 	name="base_link_to_laser" 	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /lidar_link 40"/>   
	-->
	
	<!-- ***** Launch the rosserial python node ***** -->	
	<node name="serial_node" pkg="rosserial_python" type="serial_node.py">
		<param name="port" value="/dev/ttyACM0"/>
		<param name="baud" value="115200"/>
	</node>
	
       <!-- ***** Launch the RPlidar node ***** -->
	<include file="$(find rplidar_ros)/launch/rplidar.launch" /> 	
	
</launch>
