launches

<launch>
  <!-- Turtlebot -->
  <arg name="base"              default="$(env TURTLEBOT_BASE)"         doc="mobile base type [create, roomba]"/>
  <arg name="battery"           default="$(env TURTLEBOT_BATTERY)"      doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
  <arg name="stacks"            default="$(env TURTLEBOT_STACKS)"       doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
  <arg name="3d_sensor"         default="$(env TURTLEBOT_3D_SENSOR)"    doc="3d sensor types [kinect, asux_xtion_pro]"/>
  <arg name="simulation"        default="$(env TURTLEBOT_SIMULATION)"   doc="set flags to indicate this turtle is run in simulation mode."/>
  <arg name="serialport"        default="$(env TURTLEBOT_SERIAL_PORT)"  doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
  <arg name="robot_name"        default="$(env TURTLEBOT_NAME)"         doc="used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc."/>
  <arg name="robot_type"        default="$(env TURTLEBOT_TYPE)"         doc="just in case you are considering a 'variant' and want to make use of this."/>

  <param name="/use_sim_time" value="$(arg simulation)"/>

  <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="stacks" value="$(arg stacks)" />
    <arg name="3d_sensor" value="$(arg 3d_sensor)" />
  </include>

  <include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="serialport" value="$(arg serialport)" />
  </include>

  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="depth_registration"              value="false" />
    <arg name="rgb_processing"                  value="false" />
    <arg name="ir_processing"                   value="false" />
    <arg name="depth_processing"                value="false" />
    <arg name="depth_registered_processing"     value="false" />
    <arg name="disparity_processing"            value="false" />
    <arg name="disparity_registered_processing" value="false" />
  </include>

</launch>