<?xml version="1.0" encoding="UTF-8"?>
<launch>

	<arg name="paused" default="false"/>
	<arg name="use_sim_time" default="true"/>
	<arg name="gui" default="true"/>
	<arg name="headless" default="false"/>
	<arg name="debug" default="false"/>
    <arg name="world" default="$(find training_grounds)/worlds/basic.world"/>
    <param name="MODEL_S3_BUCKET" value="$(env MODEL_S3_BUCKET)" />
    <param name="MODEL_S3_PREFIX" value="$(env MODEL_S3_PREFIX)" />
    <param name="ROS_AWS_REGION" value="$(env ROS_AWS_REGION)" />
    <param name="JOB_TYPE" value="TRAINING" />


	<include file="$(find gazebo_ros)/launch/empty_world.launch">
		<arg name="world_name" value="$(arg world)"/>
		<arg name="debug" value="$(arg debug)" />
		<arg name="gui" value="$(arg gui)" />
		<arg name="paused" value="$(arg paused)"/>
		<arg name="use_sim_time" value="$(arg use_sim_time)"/>
		<arg name="headless" value="$(arg headless)"/>
    </include>

	<include file="$(find training_grounds)/launch/training_gear.launch"/>
	<include file="$(find training_grounds)/launch/rover_training_env.launch"/>
</launch>