<launch>
  <!-- 
       Using simulation time means nodes initialized after this
       will not use the system clock for its ROS clock and 
       instead wait for simulation ticks. 

       See http://wiki.ros.org/Clock

       Note: set to false for deploying to a real robot.
  -->
  <arg name="use_sim_time" default="true"/>
  <param name="use_sim_time" value="$(arg use_sim_time)"/>

  <!-- Optional environment variable, default is "waffle_pi". Note that "burger" does not have a camera -->
  <arg name="model" default="$(optenv TURTLEBOT3_MODEL waffle_pi)" doc="model type [burger, waffle, waffle_pi]"/>
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description_reduced_mesh)/urdf/turtlebot3_$(arg model).urdf.xacro" />

  <!-- Rotate the robot on launch -->
  <node pkg="hello_world_robot" type="rotate.py" name="rotate" output="screen"/>
  <!-- Publish rotate state for transforms -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
</launch>