<?xml version="1.0"?>

<launch>
   <arg name="name" default="quadrotor"/>
   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
   <arg name="x" default="0.0"/>
   <arg name="y" default="0.0"/>
   <arg name="z" default="0.3"/>

   <arg name="use_ground_truth_for_tf" default="true"/>
   <arg name="use_ground_truth_for_control" default="true"/>
   <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
   <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>

   <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
     <arg name="name" default="$(arg name)"/>
     <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.xacro"/>
     <arg name="tf_prefix" default="$(arg tf_prefix)"/>
     <arg name="x" default="$(arg x)"/>
     <arg name="y" default="$(arg y)"/>
     <arg name="z" default="$(arg z)"/>   
     <arg name="use_ground_truth_for_tf" value="$(arg use_ground_truth_for_tf)"/>
     <arg name="use_ground_truth_for_control" value="$(arg use_ground_truth_for_control)"/>
     <arg name="use_pose_estimation" value="$(arg use_pose_estimation)"/>
   </include>

</launch>

