vesc_to_odom_nodelet.launch

<!-- -*- mode: XML -*- -->
<launch>

  <arg name="start_manager" default="true" />
  <arg name="manager" default="vesc_nodelet_manager" />

  <!-- Optionally launch manager in GDB, for debugging -->
  <arg name="debug" default="false" />
  <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <!-- Worker threads -->
  <arg name="num_worker_threads" default="4" />

  <!-- Also globally disable bond heartbeat timeout in debug mode, so everything
       doesn't die when you hit a break point -->
  <param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" />

  <!-- Nodelet manager -->
  <node if="$(arg start_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)"
        args="manager" output="screen" launch-prefix="$(arg launch_prefix)">
     <param name="num_worker_threads" value="$(arg num_worker_threads)" />
  </node>

  <!-- VESC to Odom nodelet -->
  <node pkg="nodelet" type="nodelet" name="vesc_to_odom_nodelet"
        args="load vesc_ackermann::VescToOdomNodelet $(arg manager)" >
  </node>    

</launch>