<launch>
    <node name="pibot_driver" pkg="pibot_bringup" type="pibot_driver" output="screen">
        <rosparam file="$(find pibot_bringup)/params/base_params.yaml" command="load"/>
    </node>

    <arg name="node_name"             value="velocity_smoother"/>
    <arg name="nodelet_manager_name"  value="nodelet_manager"/>
    <arg name="config_file"           value="$(find pibot_bringup)/params/apollo.yaml"/>
    <arg name="raw_cmd_vel_topic"     value="cmd_vel"/>
    <arg name="smooth_cmd_vel_topic"  value="smooth_cmd_vel"/>
    <arg name="robot_cmd_vel_topic"   value="cmd_vel"/>
    <arg name="odom_topic"            value="odom"/>
    <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>
    <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
        <arg name="node_name"             value="$(arg node_name)"/>
        <arg name="nodelet_manager_name"  value="$(arg nodelet_manager_name)"/>
        <arg name="config_file"           value="$(arg config_file)"/>
        <arg name="raw_cmd_vel_topic"     value="$(arg raw_cmd_vel_topic)"/>
        <arg name="smooth_cmd_vel_topic"  value="$(arg smooth_cmd_vel_topic)"/>
        <arg name="robot_cmd_vel_topic"   value="$(arg robot_cmd_vel_topic)"/>
        <arg name="odom_topic"            value="$(arg odom_topic)"/>
    </include>

</launch>
