<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="1"/>
	<arg name="gps_num"    default="2"/>
	<arg name="lid_num"    default="1"/>
	
	<!--- launch-prefix="xterm -fa 'Monospace' -fs 14 -e"  respawn="true"-->
	<node name="device_manager_node" pkg="device_manager" type="device_manager_node" output="screen">
		<param name="cam_num"     type="int"    value="$(arg cam_num)"/>
		<param name="imu_num"     type="int"    value="$(arg imu_num)"/>
		<param name="gps_num"     type="int"    value="$(arg gps_num)"/>
		<param name="lid_num"     type="int"    value="$(arg lid_num)"/>
	</node>
	
    <!--- sync_board -->
    <include file="$(find device_manager)/launch/include/sync_board.launch" />
	
    <!--- mcs_udp -->
    <include file="$(find device_manager)/launch/include/mcs_udp.launch" />	
	
    <!--- usb_cam -->
    <include file="$(find device_manager)/launch/include/usb_cam.launch" />
    
    <!--- mv_camera -->
    <include file="$(find device_manager)/launch/include/mv_camera.launch" />
    
    <!--- hesai_lidar -->
    <include file="$(find device_manager)/launch/include/hesai_lidar.launch" />
    
    <!--- novatel_pp7 -->
    <include file="$(find device_manager)/launch/include/novatel_pp7.launch" />
</launch>
