<launch>
    <!-- 
        The robot can be controlled either through CAN bus or UART port. Make sure the hardware
        interface is set up correctly before attempting to connect to the robot.
        
        You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should 
        operate with the following configuration:
        
        * CAN bus: 500k
        * UART: 115200, Parity None, 8-bit Data, 1 Stop Bit 
    -->
    <arg name="port_name" default="can0" />
    <arg name="is_scout_mini" default="false" />
    <arg name="simulated_robot" default="false" />
    <arg name="odom_topic_name" default="odom" />

    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
        <param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
        <param name="port_name" type="string" value="$(arg port_name)" />
        <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
        <param name="odom_frame" type="string" value="odom" />
        <param name="base_frame" type="string" value="base_link" />
        <param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />
    </node>

</launch>
