bringup.launch

<launch>
    <arg name="multi_robot" default="false"/>

    <!-- multi_robot -->
    <group if="$(arg multi_robot)" ns="robot1">
        <param name="tf_prefix" value="robot1_tf" />
        <!-- bringup devices -->
        <include file="$(find sr_bringup)/launch/bringup_devices.launch">
            <arg name="multi_robot" value="$(arg multi_robot)"/>
        </include>

        <!-- bringup services -->
        <include file="$(find sr_bringup)/launch/bringup_services.launch">
            <arg name="multi_robot" value="$(arg multi_robot)"/>
        </include>
    </group>

    <!-- single_robot -->
    <include unless="$(arg multi_robot)" file="$(find sr_bringup)/launch/bringup_devices.launch"/>

    <include unless="$(arg multi_robot)" file="$(find sr_bringup)/launch/bringup_services.launch">
        <arg name="multi_robot" value="$(arg multi_robot)"/>
    </include>

    <node unless="$(arg multi_robot)" name="rviz" pkg="rviz" type="rviz" args="-d $(find sr_bringup)/rviz/rviz_default_view.rviz" />
</launch>