<!-- <launch>

    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>


    <node pkg="robot_state_publisher" type="robot_state_publsiher" name="robot_state_publsiher" respawn="false" output="screen"/>

   

    <node pkg="controller_manager" type="spawner" name="controller_manager"  respawn="false"  output="screen"
    args="wheel_left_controller wheel_right_controller joint_state_controller"/>


</launch> -->
<!-- <launch>
    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>

    <node pkg="controller_manager" type="spawner" name="controller_manager" respawn="false" output="screen"
    args="wheel_left_controller wheel_right_controller joint_state_controller"/>

</launch> -->
<!-- <launch>
    <arg name="wheel_radius" default="0.033"/>
    <arg name="wheel_seperation" default="0.17"/>


    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>

    <node pkg="controller_manager" type="spawner" name="controller_manager" respawn="false" output="screen"
    args="wheel_left_controller wheel_right_controller joint_state_controller"/>
    <node pkg="turtlebot_controller" type="simple_controller_node" name="simple_controller_node"
    respawn="true" output="screen"/>
    <param name="wheel radius" value="$(arg_wheel_radius"/>
    <param name="wheel seperation" value="$(arg_wheel_seperation"/>


</launch> -->
<launch>
    <arg name="wheel_radius" default="0.033"/>
    <arg name="wheel_seperation" default="0.17"/>

    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>

    <node name="controller_manager" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="wheel_left_controller wheel_right_controller joint_state_controller"/>

    <node pkg="turtlebot_controller" type="simple_controller_node" name="simple_controller_node"
        respawn="true" output="screen">
        <param name="wheel_radius" value="$(arg wheel_radius)"/>
        <param name="wheel_seperation" value="$(arg wheel_seperation)"/>
    </node>

</launch>
