<launch>
    <arg name="path" default="/home/kaichuangliu/gitee/AMRControlSystem"/>
    <arg name="map_file" default="$(arg path)/paramfiles/map_files/map_cart.json" />
    <arg name="param_file" default="$(arg path)/paramfiles/vehicle_params/vehicle.yaml"/>

   <!-- <group ns= "$(arg agv_id)"> -->
      <!-- 地图 -->
      <include file="$(arg path)/src/map_operation/launch/map_operation.launch">
         <arg name = "path" value = "$(arg path)"/>
         <arg name = "map_file" value = "$(arg map_file)"/> 
         <arg name = "param_file" value = "$(arg param_file)"/> 
      </include>

      <!-- <include file="$(arg path)/src/localization_transfer/launch/transfer.launch">
      </include> -->

      <!-- 任务 -->
      <include file="$(arg path)/src/task/launch/task.launch">
         <arg name = "path" value = "$(arg path)"/>
         <arg name = "map_file" value = "$(arg map_file)"/> 
         <arg name = "param_file" value = "$(arg param_file)"/> 
      </include>
	
      <include file="$(arg path)/src/simulation_model/launch/simulation_model.launch">
         <arg name = "path" value = "$(arg path)"/>
         <arg name = "map_file" value = "$(arg map_file)"/> 
         <arg name = "param_file" value = "$(arg param_file)"/> 
      </include>

      <include file="$(arg path)/src/rviz_display/launch/rviz.launch">
         <arg name = "path" value = "$(arg path)"/>
         <arg name = "map_file" value = "$(arg map_file)"/> 
         <arg name = "param_file" value = "$(arg param_file)"/> 
      </include>

      <include file="$(arg path)/src/trajectory/launch/trajectory.launch">
         <arg name = "path" value = "$(arg path)"/>
         <arg name = "map_file" value = "$(arg map_file)"/> 
         <arg name = "param_file" value = "$(arg param_file)"/> 
      </include>

      <include file="$(arg path)/src/control/launch/control.launch">
         <arg name = "path" value = "$(arg path)"/>
         <arg name = "map_file" value = "$(arg map_file)"/> 
         <arg name = "param_file" value = "$(arg param_file)"/> 
      </include>
   <!-- </group> -->

</launch>