<launch>
<!-- ########## Start Hardware Interface Nodes ########## -->
<!-- ### Start Drive Interfaces ### -->
<!-- Start Left Bogie Interface -->
<!-- Start Right Bogie Interface -->
<!-- Start Rear Bogie Interface -->

<!-- ### Start Arm Interfaces ### -->
<!-- Start Arm Base Interface -->
<!-- Start Arm End Effector Interface -->

<!-- ### Start Miscellaneous Interfaces ### -->
<!-- Start Sample Containment Interface -->
<!-- Start Tower Interface -->
<!-- Start Chassis Pan/Tilt Interface -->
<!-- Start Iris Interface -->

<!-- ########## Start All Rover Camera Nodes ########## -->
<!-- ### Start 2D Cameras ### -->
<group ns="cameras">
<!-- Start Undercarriage Camera -->
    <node name="camera_undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
        <param name="device_path" value="/dev/rover/camera_undercarriage"/>
    </node>

<!-- Start Main Navigation Camera -->
    <node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >
        <param name="device_path" value="/dev/rover/camera_main_navigation" />
    </node>

<!-- Start Gimbal Camera -->
    <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
        <param name="device_path" value="/dev/rover/camera_gimbal" />
    </node>


<!-- ### Start 3D Cameras ### -->
<!-- Start ZED Camera -->
    <group ns="zed">
        <include file="$(find zed_wrapper)/launch/zed_camera.launch">
            <!-- compliant mode for rviz -->
            <arg name="odometry_frame"        value="map" />
        </include>
    </group>
</group>

<!-- ########## Start System Status Monitoring Nodes ########## -->
<!-- Start System CPU / RAM / Filesystem Monitor -->
<!-- Start System Temperature Monitor -->


</launch>
