<launch>
    <arg name="mqtt_server" default=""/>
    <include file="$(find panda_simulation)/launch/simulation.launch"/>

    <!-- the launch file parameter mqtt_server overrides the config file parameter -->
    <rosparam file="$(find panda_mqtt_connector)/config/config.yaml" command="load" />
    <rosparam unless="$(eval arg('mqtt_server') == '')" param="panda_mqtt_connector/server" subst_value="True">$(arg mqtt_server)</rosparam>

    <node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/>
    <node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/>
    <node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/>
    <node name="safety_zone_spawner" pkg="panda_mqtt_connector" type="safety_zone_spawner" respawn="false" output="screen"/>
    <node name="safety_zone_monitor" pkg="panda_mqtt_connector" type="safety_zone_monitor" respawn="false" output="screen"/>
    <node name="MqttRosConnectionTestNode" pkg="panda_mqtt_connector" type="MqttRosConnectionTestNode" respawn="false" output="screen"/>
    <node name="acceleration_publisher" pkg="panda_mqtt_connector" type="acceleration_publisher" respawn="false" output="screen"/>
    <node name="rqt_multiplot" pkg="rqt_multiplot" type="rqt_multiplot" args="--force-discover" />
<!--    <node name="plotter" pkg="panda_mqtt_connector" type="plotter.py" respawn="false" output="screen"/>-->
<!--    <node name="transform_riz" pkg="topic_tools" type="transform" args="&#45;&#45;wait-for-start /panda_mqtt_connector/robot_in_zone /panda_mqtt_connector/robot_in_zone_number std_msgs/Float64 &#45;&#45; 'm.zone*-1'" />-->
    <node name="transform_mqtt" pkg="topic_tools" type="transform" args="--wait-for-start /panda_mqtt_connector/mqtt_message /panda_mqtt_connector/next_step std_msgs/Int16 -- '-1*(m.topic==&quot;ros2rag/nextStep&quot;)'" />
<!--    <node name="rqt_plot" pkg="rqt_plot" type="rqt_plot" respawn="false" output="screen" args="/gazebo/link_states/pose[10]/position/x:y:z /panda_mqtt_connector/velocity /panda_mqtt_connector/max_velocity /panda_mqtt_connector/robot_in_zone_number" /> -->
</launch>