<launch>

  <node pkg="nodelet" type="nodelet" name="teleop_velocity_smoother" args="load yocs_velocity_smoother/VelocitySmootherNodelet mobile_base_nodelet_manager">
    <rosparam file="$(find turtlebot_bringup)/param/defaults/smoother.yaml" command="load"/>
    <remap from="teleop_velocity_smoother/smooth_cmd_vel" to="cmd_vel_mux/input/teleop"/>

    <!-- Robot velocity feedbacks; use the one configured as base default -->
    <remap from="teleop_velocity_smoother/odometry" to="odom"/>
    <remap from="teleop_velocity_smoother/robot_cmd_vel" to="mobile_base/commands/veclocity"/>
  </node>

  <node pkg="wander-bot" type="demo2_ver_1.py" name="wander_sm">

    <!-- <remap from="cmd_vel" to="cmd_vel_mux/input/teleop" /> -->
    <remap from="cmd_vel" to="teleop_velocity_smoother/raw_cmd_vel"/>
  </node>

</launch>