launch_file.launch

<launch>

    <!-- Home position (must be inside the map) -->
    <param name="home_pos_x" type="int" value="5" />
    <param name="home_pos_y" type="int" value="5" />

    <!-- Min and max delay for sending command -->
    <param name="min_delay_command" type="double" value="1" />
    <param name="max_delay_command" type="double" value="10" />

    <!-- Min and max delay for sending pointed gesture -->
    <param name="min_delay_gesture" type="double" value="1" />
    <param name="max_delay_gesture" type="double" value="10" />

    <!-- Min and max delay for simulating robot motion -->
    <param name="min_delay_robot_motion" type="double" value="0.1" />
    <param name="max_delay_robot_motion" type="double" value="1" />

    <!-- Min and max delay for transition between PLAY and NORMAL states -->
    <param name="min_transition_play_normal" type="int" value="1" />
    <param name="max_transition_play_normal" type="int" value="10" />

    <!-- Min and max delay for transition between NORMAL and SLEEP states -->
    <param name="min_transition_normal_sleep" type="int" value="1" />
    <param name="max_transition_normal_sleep" type="int" value="10" />

    <!-- Min and max delay for sleeping -->
    <param name="min_sleep_delay" type="double" value="1" />
    <param name="max_sleep_delay" type="double" value="10" />

    <!-- Person position (must be inside the map) -->
    <param name="person_pos_x" type="int" value="8" />
    <param name="person_pos_y" type="int" value="10" />

    <!-- Map dimension -->
    <param name="map_x" type="int" value="20" />
    <param name="map_y" type="int" value="20" />

    <node name="motion_server" pkg="robot_control" type="motion.py" respawn="true"/>
    <node name="command_node" pkg="sensoring" type="command.py" respawn="true"/>
    <node name="gesture_node" pkg="sensoring" type="gesture.py" respawn="true"/>
    <node name="command_manager_state_machine" pkg="manager" type="command_manager.py" respawn="true" output="screen"/>

</launch>