sim_single.launch

<launch>
	<arg name="paused" default="false"/>
    <arg name="debug"  default="false"/>
    <arg name="verbose"  default="false"/>
    <arg name="map_tf" default="false"/>

    <!-- Create World -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find iarc_sim_3d)/worlds/iarc.world"/>
		<arg name="paused" value="$(arg paused)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
    </include>

    <!-- Spawn simulated quadrotor uav -->
    <include file="$(find iarc_sim_3d)/launch/spawn_drone.launch">
        <arg name="ns" value="drone"/>
        <arg name="x" value="-10"/>
        <arg name="y" value="0.0"/>
    </include>

    <!-- map -> odom transforms -->
    <group if="$(arg map_tf)">
        <node pkg="tf" type="static_transform_publisher" name="map_to_odom_tf"
            args="-10 0.0 0 0 0 0 map odom 1"/>
    </group>

    <!-- single drone cfg -->
    <!--<include file="$(find iarc_sim_3d)/launch/noisy_odom.launch"/>-->
    <node pkg="tf" type="static_transform_publisher" name="sim_drone_odom_alias"
        args="0 0 0 0 0 0 drone/odom odom 1"/>
    <node pkg="tf" type="static_transform_publisher" name="sim_drone_base_alias"
        args="0 0 0 0 0 0 drone/base_link ardrone_base_link 1"/>



</launch>