<launch>
    <arg name="driver_baudrate" default="$(env PIBOT_DRIVER_BAUDRATE)"  doc="pibot driver baudrate"/>
    <arg name="publish_tf" default="true"  doc="pibot driver baudrate"/>

	<!-- PIBOT DRIVER -->
    <node name="pibot_driver" pkg="pibot_bringup" type="pibot_driver" output="screen">
        <param name="base_frame" value="base_link" />
        <param name="baudrate" value="$(arg driver_baudrate)" />
        <param name="cmd_vel_topic" value="cmd_vel" />
        <param name="odom_frame" value="odom" />
        <param name="odom_topic" value="odom" if="$(arg publish_tf)"/>
        <param name="odom_topic" value="wheel_odom" unless="$(arg publish_tf)" /> 
        <param name="out_pid_debug_enable" value="false" />
        <param name="port" value="/dev/pibot" />
        <param name="publish_tf" value="$(arg publish_tf)" />
    </node>
</launch>
