<launch>
  <arg name="holonomic" default="false" />
  <arg name="joy_dev" default="/dev/input/js0" />
  
  <node pkg="joy" type="joy_node" name="joy_node">
    <param name="dev" value="$(arg joy_dev)" />
    <param name="deadzone" value="0.3" />
    <param name="autorepeat_rate" value="20" />
  </node>

  <node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
    <rosparam command="load" file="$(find pibot_bringup)/config/joystick.config.yaml" unless="$(arg holonomic)"/>
    <rosparam command="load" file="$(find pibot_bringup)/config/joystick-holonomic.config.yaml" if="$(arg holonomic)"/>
  </node>
</launch>
