<?xml version="1.0"?>

<launch>

  <!-- <env name="ROSCONSOLE_CONFIG_FILE" value="$(find quad_control)/custom_rosconsole.conf"/> -->

  <arg name="enable_logging" default="false"/>
  <arg name="enable_ground_truth" default="true"/>
  <arg name="log_file" default="quad"/>
  <arg name="headless" default="true"/>
  <arg name="gui" default="true"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find quad_gazebo)/worlds/quad_basic.world"/> 
    <!-- more default parameters can be changed here -->
    <arg name="debug" value="false" /> 
    <arg name="paused" value="true"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="gui" value="$(arg gui)"/>
  </include>

  <!-- Spawn 3DR Model -->
   <include file="$(find quad_gazebo)/launch/spawn/spawn_quad.launch">
    <arg name="model" value="$(find quad_description)/urdf/kit_c_base.xacro" />  
    <arg name="enable_logging" value="$(arg enable_logging)" />
    <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
    <arg name="log_file" value="$(arg log_file)"/>
  </include>

  <group ns="quad">
    <node name="joy_node" pkg="joy" type="joy_node" />
    <node name="quad_joystick_interface" pkg="quad_joystick_interface" type="quad_joystick_interface" /> 
    <node name="attitude_controller_node" pkg="quad_control" type="attitude_controller_node" output="screen"> 
      <rosparam command="load" file="$(find quad_gazebo)/resource/kit_c.yaml" /> 
      <rosparam command="load" file="$(find quad_control)/resource/attitude_controller.yaml" />  
    </node> 
  </group>

</launch>