<launch>
	<arg name="enable_turtlebot_simulation" value="true"/>
	<arg name="enable_keyboard_teleoperation" value="true"/>
	<arg name="enable_rviz" value="true"/>

    <group if="$(arg enable_turtlebot_simulation)">
	    <include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch"/>  <!-- other ROS distributions -->
	    <!--include file="$(find turtlebot_gazebo)/launch/turtlebot_playground.launch"/-->  <!-- ROS hydro -->

	    <group if="$(arg enable_rviz)">
			<include file="$(find control_turtlebot)/launch/view_robot.launch"/>
		</group>
    </group>
    <group unless="$(arg enable_turtlebot_simulation)">
		<include file="$(find turtlebot_bringup)/launch/minimal.launch"/>
		<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
    </group>

    <group if="$(arg enable_keyboard_teleoperation)">
    	<include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch">
    	</include>
    </group>
</launch>
