<launch>
	<arg name="work_dir"   default="/data"/>
	<arg name="server_ip"  default="192.168.0.179"/>
	<arg name="cam_num"    default="4"/>
	<arg name="imu_num"    default="3"/>
	<arg name="gps_num"    default="2"/>
	<arg name="lid_num"    default="1"/>
	
	<!--- launch-prefix="xterm -fa 'Monospace' -fs 14 -e"  respawn="true"-->
	<node name="cam_sync_udp_node" pkg="sync_board" type="cam_sync_udp_node" output="screen" respawn="true">
		<param name="work_dir"    type="string" value="$(arg work_dir)"/>
		<param name="listen_port" type="int"    value="5000"/>
		<param name="topic_pub"   type="string" value="/cam_sync_info"/>
	</node>
	
	<!--- launch-prefix="xterm -fa 'Monospace' -fs 14 -e"  respawn="true"-->
	<node name="imu_sync_udp_node" pkg="sync_board" type="imu_sync_udp_node" output="screen" respawn="true">
		<param name="work_dir"    type="string" value="$(arg work_dir)"/>
		<param name="imu_id"      type="int"    value="2"/>
		
		<!-- imu_type : 0 - stim300; 1 - i300 -->
		<param name="imu_type"    type="int"    value="1"/>
		<param name="listen_port" type="int"    value="6000"/>
		<param name="topic_pub"   type="string" value="/imu_raw"/>
	</node>
	
	<!--- launch-prefix="xterm -fa 'Monospace' -fs 14 -e"  respawn="true"-->
	<node name="mcs_serial" pkg="sync_board" type="mcs_serial_node" output="screen">
		<param name="work_dir"    type="string" value="$(arg work_dir)"/>
		<param name="serial_path" type="string" value="/dev/ttyS0:115200:8:N:1"/>
	</node>
	
</launch>