<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="multi_robot_name" default=""/>
  <param name="tb3_model" value="$(arg model)"/>

  <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_empty_world.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="50.0" />
  </node>


  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_fake)/rviz/turtlebot3_fake.rviz"/>

  <node pkg="3002_lab2" type="lab2_node.py" name="lab2_node"  output="screen">
  </node>

</launch>