<launch>
  <arg name="viz_result" default="false" />
  <arg name="results_dir"  default="$(env HOME)"/>
  <node if="$(arg viz_result)"
    name="bag_recorder" pkg="mbf_costmap_nav" type="record_bag_file.sh" args="$(arg results_dir)"/>
  <node pkg="tf2_ros" type="static_transform_publisher" name="broadcaster_b_m" args="0 0 0 0 0 0 base_link map" output="screen"/>
  <node name="ms" pkg="map_server" type="map_server" args="$(find costmap_2d)/test/TenByTen.yaml"/>
  
  <test test-name="free_pose_search_test" pkg="mbf_costmap_nav" type="free_pose_search_test" time-limit="20">
    <param name="unpadded/footprint_padding" value="0" />
    <param name="unpadded/footprint" value="[[1, 1], [-1, 1], [-1, -1]]" />

    <param name="padded/footprint_padding" value=".5" />
    <param name="padded/footprint" value="[[1, 1], [-1, 1], [-1, -1]]" />

    <param name="rectangle/footprint_padding" value="0" />
    <param name="rectangle/footprint" value="[[-0.5, -0.4], [1.0, -0.4], [1.0, 0.4], [-0.5, 0.4]]" />

    <rosparam file="$(find mbf_costmap_nav)/test/config.yaml" />
  </test>

</launch>
