<?xml version="1.0"?>
<launch>
    <arg name="gui" default="true"/>
   <arg name="uwsim" default="false"/>
   <arg name="model" default="$(find bluerov_ros_playground)/model/BlueRov2.urdf.xacro"/>

    <!-- Launch Gazebo with underwater world -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="gui" value="false" if="$(arg uwsim)"/>
        <arg name="paused" value="true"/>
        <arg name="world_name" value="$(find freefloating_gazebo)/world/underwater.world"/>
    </include>

    <group ns="BlueRov2">
         <!-- spawn in Gazebo with GUI -->
        <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
        <node name="spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model BlueRov2 -param robot_description -x 0 -y 0 -z 0 -R 3.14927 -P 0 -Y 0"/>
    </group>

    <!-- spawn terrain -->
    <param name="terrain_description" command="$(find xacro)/xacro $(find freefloating_gazebo_demo)/terrain/shipwreck/terrain.sdf"/>
    <node name="terrain_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-sdf -model terrain -param terrain_description -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0"/>
</launch>