robot_bringup_vignesh.launch

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<launch>
	
	<!-- Simulation parameter-->
	<param name="simulation" value="false" type="bool" />
	
	<!-- Ini file path-->
	<param name="iniDirectory" value="$(find hardware_config)/thorvald_ii/config/base/" type="string" />

        <!-- Read parameter files -->
        <include file="$(find thorvald)/launch/thorvald_II/thorvald_parameters.launch" />
	
	<!-- Base link position from back axel relative to robot length-->
	<!-- NO param name="relative_base_link_position" value="0.5" type="double" /-->

	<!-- Robot_description-->
  	<param name="robot_description"
    		command="$(find xacro)/xacro '$(find testbot_description)/urdf/thorvald_ii.xacro'" />

	<!-- Robot state publisher node -->
	<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"  />

        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="robot_description" command="$(find xacro)/xacro.py '$(find testbot_description)/urdf/thorvald_ii.xacro'" />
        </node>

        <node pkg="joy" type="joy_node" name="joy_node">
                <param name="autorepeat_rate" value="10.0" type="double" />
        </node>
	
        <node pkg="teleop_xbox" type="teleop_xbox" name="teleop_xbox" />

        <node pkg="teleop_xbox" type="teleop_cancel_goal" name="teleop_cancel_goal" />
	
        <!-- Twist to joint values converter node -->
        <node pkg="base_drive_chain" type="twist_to_joint_values_converter" name="twist_to_joint_values_converter" />

</launch>
   

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