matt6cpg.launch

<launch>
<!--Onboard IMU publisher-->
    <!--include file="$(find xsens_mti_driver)/launch/xsens_mti_node.launch" /-->
    
    <!--Cameras-->
    <include file="$(find titan6_general_cpp)/launch/cd.launch" />
    <!--include file="$(find titan6_general_cpp)/launch/cf.launch" /-->
    <!--include file="cf_david.launch" /-->

    <!--Optitrack-->
    <include file="$(find vrpn_client_ros)/launch/sample.launch">
        <arg name="server" value="10.10.1.116" />
    </include>
    <node name="pose_publisher_mocap" pkg="puma_ogm" type="pose_publisher_mocap"  args="-g /vrpn_client_node/matt6/pose" />

    <!--Total station and other message formatting-->
    <node name="message_sync" pkg="message_sync" type="message_sync.py" />

    <!-- Aruco Marker Fiducial SLAM -->
    <!--include file="localizer_david.launch"/-->
    <!--Or, to try using AprilTags instead of Aruco markers -->
    <!--include file="localizer_david2.launch"/-->

    <!-- RTabMap -->
    <!--include file="rtabmap.launch"> </include-->

    <!--Joint states for bagging-->
    <node name="state_feedback_publisher" pkg="state_feedback" type="state_feedback_publisher.py" />
    
    <!--Record rosbags-->
    <node pkg="rosbag" type="record" name="rosbag_recorder" args="-a -x /camera(.*)|(.*)image(.*) -o /home/rosie2/dneiman/bags/mybag.bag" />

    <!--Raunaq code to run commands on the robot-->
    <node name="hexapod_control" pkg="hebi-ros-daisy" type="hexapod_control" />


    <!--Nate inference code (commented here, run this separately)-->
    <!--include file="$(find puma_evaluate)/launch/initial-physical.launch">
       <arg name="config_dir" value="~/dneiman/snakeMonster_PGM-master/data/physical/straight-short/" />
    </include-->

</launch>