capstone_drive.launch

<launch>
	
	<node pkg="omron_os32c_driver" type="omron_os32c_node" name="omron_laser_1">
                <param name="host" value="192.168.1.80" />
                <param name="local_ip" value="192.168.1.70" />
                <param name="frame_id" value="base_omron1" />
                <remap from="scan" to="omron_scan1"/>
        </node>

        <node pkg="omron_os32c_driver" type="omron_os32c_node" name="omron_laser_2">
                <param name="host" value="192.168.2.81" />
                <param name="local_ip" value="192.168.2.71" />
                <param name="frame_id" value="base_omron2" />
                <remap from="scan" to="omron_scan2"/>
        </node>
	
	<!-- differential robot drive -->
        <node pkg="diff_drive" type="diff_drive_odometry" name="diff_drive_odometry">
                <!-- set a private parameter for the node -->
                <param name="encoder_max" value="100000000" />
                <param name="encoder_min" value="-100000000" />
                <param name="ticks_per_meter" value="26525" />
                <param name="wheel_separation" value="0.48" />
        </node>

        <!-- speed controller, take /cmd_vel commands -->
        <node pkg="diff_drive" type="diff_drive_controller" name="diff_drive_controller">
                <!-- set a private parameter for the node -->
                <param name="max_motor_speed" value="500" />
                <param name="ticks_per_meter" value="26525" />
                <param name="wheel_separation" value="0.21" />
        </node>

        <node pkg="robot_setup_tf" type="tf_broadcaster" name="tf_broadcaster"></node>
        <node pkg="wheel" type="base_control" name="base_control"></node>

	<node pkg="keyboard_cont" type="pose2D_pub.py" name="pose2D_pub" output="screen"></node>

	<!-- upload urdf -->
        <param name="robot_description" textfile="wombat.urdf" />

        <!-- robot state publisher -->
        <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
        <node pkg="system_control" type="system_control" name="system_control" />

</launch>