bringup_all.launch

<launch>
    <arg name="laser_frame_id" default="rplidar_laser_link" />
    <!--arg name="model" default="$(env DIFFBOT_MODEL)" doc="model type [diffbot, remo]"/-->
    <arg name="model" default="diffbot" doc="model type [diffbot, remo]"/>

    <!-- The `minimal.launch` is used to load the DiffBot's robot descripton
        and the controller configuration onto the ROS parameter server using the launch file from the
        `diffbot_base` package (https://fjp.at/projects/diffbot/ros-packages/base/).
        It will also setup the ROS controller manager (http://wiki.ros.org/controller_manager) with
        DiffBot's hardware interface https://fjp.at/projects/diffbot/ros-packages/base/#hardware-inte>
        For the motor driver the node `motor_driver.py` from the `grove_motor_driver` package is star>
        And for the encoders rosserial communicates with the Teensy microcontroller to publish the en>
    -->
    <include file="$(find diffbot_bringup)/launch/minimal.launch">
        <arg name="model" value="$(arg model)" />
    </include>
    
    <!-- Starting SLAMTEC RPLidar A1/A2 -->
    <include file="$(find rplidar_ros)/launch/rplidar.launch" ns="diffbot">
        <arg name="laser_frame_id" value="$(arg laser_frame_id)" />
    </include>

    <!-- Starting Adafruit BNO055 IMU -->
    <include file="$(find imu_bno055)/launch/imu.launch" ns="diffbot">
    </include>

    <!-- Starting robot_localization to fuse wheel encoder and IMU sensors -->
    <include file="$(find robot_localization)/launch/ekf_template.launch" ns="diffbot">
    </include>

    <!-- Starting robot state publish which will publish tf -->
    <!-- This is needed to publish transforms between all links -->
    <!-- diff_drive_controller publishes only a single transform between odom and base_footprint -->
    <!-- The robot_state_publisher reads the joint states published by ros control's joint_state_controller -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
        output="screen" ns="diffbot" />
</launch>