launch_file.launch

<launch>

    <!-- Position of the launch file of explore lite (must be define before the execution) -->
    <param name="path_exp" type="string" value="/home/simone/catkin_ws/src/Behavioral-Architecture-with-Real-Simulation-AutonomousNav/explore/launch/explore.launch" />

    <!-- Home position (must be inside the map) -->
    <param name="home_pos_x" type="int" value="-5" />
    <param name="home_pos_y" type="int" value="8" />

    <!-- Min and max delay for transition between PLAY and NORMAL states -->
    <param name="min_transition_play_normal" type="int" value="1" />
    <param name="max_transition_play_normal" type="int" value="10" />

    <!-- Min and max delay for sending the play command -->
    <param name="min_delay_command" type="double" value="1" />
    <param name="max_delay_command" type="double" value="10" />

     <!-- Frequency of the command loop (play follow by goTo+location) -->
    <param name="freq_command" type="int" value="1" />
    
    <!-- Min and max delay for transition between FIND and PLAY states (they represent seconds)-->
    <param name="min_transition_find_play" type="int" value="60" />
    <param name="max_transition_find_play" type="int" value="120" />

    <!-- Min and max delay for transition between NORMAL and SLEEP states -->
    <param name="min_transition_normal_sleep" type="int" value="1" />
    <param name="max_transition_normal_sleep" type="int" value="10" />

    <!-- Min and max delay for sleeping -->
    <param name="min_sleep_delay" type="double" value="1" />
    <param name="max_sleep_delay" type="double" value="10" />

    <!-- Person position (must be inside the map) -->
    <param name="person_pos_x" type="double" value="-5" />
    <param name="person_pos_y" type="double" value="8" />

    <!-- Map dimension -->
    <param name="map_x" type="int" value="7" />
    <param name="map_y" type="int" value="7" />

    <!-- Launch the simulation and the nodes--> 
    <node name="command" pkg="sensoring" type="command.py" respawn="true"/>
    <node name="image_detector" pkg="sensoring" type="ball_detector.py" respawn="true" output="screen"/> 
    <node name="oracle_server" pkg="knowledge" type="oracle.py" respawn="true" output="screen"/>
    <node name="command_manager_state_machine" pkg="manager" type="command_manager.py" respawn="true" output="screen"/>
    
</launch>