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robots_ign.launch
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<?xml version="1.0"?>
<launch>
<!-- Spawn your team here. -->
<arg name="anchor_name" default="Base" />
<arg name="x1_name" default="X1" />
<arg name="x2_name" default="X2" />
<arg name="a1_name" default="A01" />
<arg name="b1_name" default="B01" />
<arg name="b2_name" default="B02" />
<arg name="b3_name" default="B03" />
<arg name="b4_name" default="B04" />
<arg name="b5_name" default="B05" />
<arg name="b6_name" default="B06" />
<arg name="b7_name" default="B07" />
<arg name="b8_name" default="B08" />
<arg name="ground" default="true" />
<arg name="air" default="false" />
<arg name="beacons1" default="false" />
<arg name="beacons2" default="false" />
<!-- Competitor's control nodes -->
<node name="$(arg anchor_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg anchor_name) $(arg anchor_name)" />
<group if="$(arg beacons1)">
<node name="$(arg b1_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b1_name) $(arg b1_name)" />
<node name="$(arg b2_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b2_name) $(arg b2_name)" />
</group>
<group if="$(arg beacons2)">
<node name="$(arg b3_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b3_name) $(arg b3_name)" />
<node name="$(arg b4_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b4_name) $(arg b4_name)" />
<node name="$(arg b5_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b5_name) $(arg b5_name)" />
<node name="$(arg b6_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b6_name) $(arg b6_name)" />
<node name="$(arg b7_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b7_name) $(arg b7_name)" />
<node name="$(arg b8_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg b8_name) $(arg b8_name)" />
</group>
<group if="$(arg air)">
<node name="$(arg a1_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg a1_name) $(arg a1_name)" />
</group>
<group if="$(arg ground)">
<node name="$(arg x1_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg x1_name) $(arg x1_name)" />
<node name="$(arg x2_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg x2_name) $(arg x2_name)" />
</group>
<!-- <node name="$(arg x3_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg x3_name) $(arg x3_name)" /> -->
<!-- <node name="$(arg x4_name)_control" pkg="subt_example" type="subt_example_node" args="$(arg x4_name) $(arg x4_name)" /> -->
</launch>