<launch>

  <!-- wpb_home core-->
  <node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
    <param name="serial_port" type="string" value="/dev/ftdi"/> 
    <rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
  </node>

  <!-- js node -->
  <node respawn="true" pkg="joy" type="joy_node" name="wpb_home_joy" >
    <param name="dev" type="string" value="/dev/input/js0" />
    <param name="deadzone" value="0.12" />
  </node>

  <!-- Axes Velcmd -->
  <param name="axis_linear" value="1" type="int"/>
  <param name="axis_angular" value="0" type="int"/>
  <param name="scale_linear" value="1" type="double"/>
  <param name="scale_angular" value="1" type="double"/>
  <node pkg="wpb_home_bringup" type="wpb_home_js_vel" name="teleop"/>

</launch>
