<?xml version="1.0"?>
<launch>
  <arg name="uri1" default="radio://0/80/2M/0xE7E7E7E701" />
  <arg name="uri2" default="radio://0/80/2M/0xE7E7E7E702" />
  <arg name="uri3" default="radio://0/80/2M/0xE7E7E7E703" />
  <arg name="uri4" default="radio://0/80/2M/0xE7E7E7E704" />
  <arg name="uri5" default="radio://0/80/2M/0xE7E7E7E705" />
  <arg name="frame" default="/world" />
  <arg name="ip" default="192.168.1.118" />
  <arg name="port" default="22223" />

  <include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
  </include>

  <!--String Format: "CF1,CF2,CF3,CF4,CF5" -->
  <param name="cf_names" value="CF1,CF2,CF3,CF4,CF5" />

  <group ns="CF1">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri1)" />
      <param name="tf_prefix" value="CF1" />
      <param name="enable_logging" value="True" /> <!--Logging is disabled to reduce unnecessary bandwith consumption-->
      <param name="enable_logging_imu" value="True" />
      <param name="enable_logging_temperature" value="True" />
      <param name="enable_logging_magnetic_field" value="True" />
      <param name="enable_logging_pressure" value="True" />
      <param name="enable_logging_battery" value="True" />
      <param name="enable_logging_packets" value="True" />
    </node>
  </group>

  <group ns="CF2">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri2)" />
      <param name="tf_prefix" value="CF2" />
      <param name="enable_logging" value="True" /> <!--Logging is disabled to reduce unnecessary bandwith consumption-->
      <param name="enable_logging_imu" value="True" />
      <param name="enable_logging_temperature" value="True" />
      <param name="enable_logging_magnetic_field" value="True" />
      <param name="enable_logging_pressure" value="True" />
      <param name="enable_logging_battery" value="True" />
      <param name="enable_logging_packets" value="True" />
    </node>
  </group>

  <group ns="CF3">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri3)" />
      <param name="tf_prefix" value="CF3" />
      <param name="enable_logging" value="True" /> <!--Logging is disabled to reduce unnecessary bandwith consumption-->
      <param name="enable_logging_imu" value="True" />
      <param name="enable_logging_temperature" value="True" />
      <param name="enable_logging_magnetic_field" value="True" />
      <param name="enable_logging_pressure" value="True" />
      <param name="enable_logging_battery" value="True" />
      <param name="enable_logging_packets" value="True" />
    </node>
  </group>

  <group ns="CF4">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri4)" />
      <param name="tf_prefix" value="CF4" />
      <param name="enable_logging" value="True" /> <!--Logging is disabled to reduce unnecessary bandwith consumption-->
      <param name="enable_logging_imu" value="True" />
      <param name="enable_logging_temperature" value="True" />
      <param name="enable_logging_magnetic_field" value="True" />
      <param name="enable_logging_pressure" value="True" />
      <param name="enable_logging_battery" value="True" />
      <param name="enable_logging_packets" value="True" />
    </node>
  </group>

  <group ns="CF5">
    <node pkg="crazyflie_driver" type="crazyflie_add" name="crazyflie_add" output="screen">
      <param name="uri" value="$(arg uri5)" />
      <param name="tf_prefix" value="CF5" />
      <param name="enable_logging" value="True" /> <!--Logging is disabled to reduce unnecessary bandwith consumption-->
      <param name="enable_logging_imu" value="True" />
      <param name="enable_logging_temperature" value="True" />
      <param name="enable_logging_magnetic_field" value="True" />
      <param name="enable_logging_pressure" value="True" />
      <param name="enable_logging_battery" value="True" />
      <param name="enable_logging_packets" value="True" />
    </node>
  </group>

  <node name="battery" pkg="crazyflie_scripts" type="check_all_battery.py" output="screen">
  </node>  
</launch>
