ars_40X.launch

<launch>
  <arg name="visualize" default="true"/>
  <arg name="obstacle_array" default="false"/>
  <arg name="publish_radardetection" default="true"/>
  <arg name="frame_id" default="radar" />
  <arg name="sensor_id" default="0" />

  <node pkg="ars_40X" type="ars_40X_ros" name="$(anon ars_40X_ros)" output="screen">
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="sensor_id" value="$(arg sensor_id)"/>
  </node>
  
  <node pkg="ars_40X" type="convert_to_radardetectionlist.py" name="$(anon object_list_converter)" output="screen" if="$(arg publish_radardetection)" />

  <group if="$(arg visualize)">
    <node pkg="ars_40X" type="ars_40X_rviz" name="$(anon ars_40X_rviz)"/>
    <node pkg="rviz" type="rviz" name="$(anon rviz)" args="-d $(find ars_40X)/rviz_cfg/ars_40X.rviz"/>
  </group>

  <group if="$(arg obstacle_array)">
    <node pkg="ars_40X" type="ars_40X_obstacle_array" name="$(anon ars_40X_obstacle_array)">
      <!--<remap from="obstacles" to="/move_base/TebLocalPlannerROS/obstacles"/>-->
    </node>
  </group>
</launch>