magni_bringup.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <arg name="robot_name" default="$(eval optenv('ROBOT', '') or optenv('HOSTNAME', ''))"/>

     <!-- Load the parameters used by the following nodes -->
    <rosparam command="load" file="$(find sootballs_common)/param/robots/$(arg robot_name)/motors.yaml" />

    <!-- Launch the roscontrol controllers needed -->
    <node name="controller_spawner" pkg="controller_manager" type="spawner" args="ubiquity_velocity_controller ubiquity_joint_publisher"/>

    <!-- Launch the motor node with the topic remapped to standard names -->
    <node name="motor_node" pkg="ubiquity_motor" type="motor_node" respawn="true">
        <remap from="/ubiquity_velocity_controller/cmd_vel" to="/cmd_vel"/>
        <remap from="/ubiquity_velocity_controller/odom" to="/raw_odom"/>
    </node>

    <include file="$(find sootballs_sensors_common)/launch/joystick/logicool.launch" />
</launch>