<launch>
	<arg name="pcap_file"  default=""/>
	<arg name="server_ip" default="192.168.1.201"/>
	<arg name="lidar_recv_port"  default="2368"/>
	<arg name="gps_port"  default="10110"/>
	<arg name="start_angle"  default="0"/>
	<!--“lidar_type” represents the model of the lidar-->
	<arg name="lidar_type" default=""/>
	<!--"frame_id" represents the id of the point cloud data published to ROS-->
	<arg name="frame_id" default=""/>
	<arg name="pcldata_type" default="0"/>
	<arg name="publish_type" default="points"/>
	<arg name="timestamp_type" default=""/>
	<arg name="data_type" default=""/>
	<arg name="namespace" default="hesai"/>
	<arg name="lidar_correction_file"  default="$(find hesai_lidar)/config/Pandar64.csv"/>
	<arg name="multicast_ip"  default=""/>
	<arg name="coordinate_correction_flag"  default="false"/>
	<arg name="manager" default="pandar_nodelet_manager" />
	<arg name="fixed_frame"  default=""/>
	<arg name="target_frame"  default=""/>
	 <!-- start nodelet manager -->
	<!-- <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" /> -->
    <node pkg="nodelet" type="nodelet" name="$(arg manager)" ns="$(arg namespace)" args="manager" output="screen" />
	<node pkg="nodelet" type="nodelet" name="$(arg manager)_cloud" ns="$(arg namespace)" args="load pandar_pointcloud/CloudNodelet $(arg manager)" output="screen">
		<param name="pcap_file" type="string" value="$(arg pcap_file)"/>
		<param name="server_ip" type="string" value="$(arg server_ip)"/>
		<param name="lidar_recv_port"  type="int" value="$(arg lidar_recv_port)"/>
		<param name="gps_port"  type="int" value="$(arg gps_port)"/>
		<param name="start_angle"  type="double" value="$(arg start_angle)"/>
		<param name="lidar_type"  type="string" value="$(arg lidar_type)"/>
		<param name="frame_id"  type="string" value="$(arg frame_id)"/>
		<param name="pcldata_type"  type="int" value="$(arg pcldata_type)"/>
		<param name="publish_type"  type="string" value="$(arg publish_type)"/>
		<param name="timestamp_type"  type="string" value="$(arg timestamp_type)"/>
		<param name="data_type"  type="string" value="$(arg data_type)"/>
		<param name="lidar_correction_file"  type="string" value="$(arg lidar_correction_file)"/>
		<param name="multicast_ip"  type="string" value="$(arg multicast_ip)"/>
		<param name="coordinate_correction_flag"  type="bool" value="$(arg coordinate_correction_flag)"/>
		<param name="fixed_frame"  type="string" value="$(arg fixed_frame)"/>
		<param name="target_frame"  type="string" value="$(arg target_frame)"/>
	</node>
</launch>