<launch>
  <arg name="map" default="map.yaml" />

  <!-- 启动ros_arduino_python节点 -->
  <node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen" clear_params="true">
      <rosparam file="$(find ros_arduino_python)/config/rbcBot_params.yaml" command="load" />
  </node>

  <!-- 启动urdf配置 -->
  <include file="$(find aikit_chassis)/launch/urdf.launch" />

  <!-- 启动rplidar A1雷达节点 -->
  <include file="$(find rplidar_ros)/launch/rplidar.launch" />

  <!-- 加载地图  -->
	<node name="map_server" pkg="map_server" type="map_server" args="$(find aikit_nav)/maps/$(arg map)"/>
	<!-- AMCL 定位包-->
  <include file="$(find aikit_nav)/launch/aikit_amcl.launch"/>
  <!-- movebase 导航-->	
	<include file="$(find aikit_nav)/launch/move_base_teb.launch"/>
  <!-- 启动相机节点 -->
  <include file="$(find realsense_camera)/launch/r200_nodelet_rgbd.launch"/>
  <!-- 启动语音合成节点 -->
  <include file="$(find baidu_speech)launch/baidu_tts.launch" >
  <arg name="TTS_Topic" value="tts_topic" />
  </include>
  <!-- 语音识别节点 -->
   <include file="$(find iflytek_asr)/launch/iflytek_asr.launch" >
    <arg name="ASR_Topic" value="asr_topic" />
    <arg name="NLU_Topic" value="nlu_topic" />
  </include> 
  <node pkg="voice_nlu" type="tuling_node.py" name="tuling_node" output="screen">
      <param name="voice_tuling"  value="tuling_input"  type="str"/>
      <param name="tts_topic"  value="tuling_output"  type="str"/>
      <param name="tuling_key"  value="e566b9a687e5465a8bc82e34415de10d"  type="str"/>
  </node>
  <!-- 机械爪 -->
  <node pkg="aikit_arm" type="claw_service.py" name="arm_service" />
</launch>