<launch>

    <!-- turtlesim node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>
    <!-- broadcast turtle1 -> world -->
    <node name="turtle1_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
      <param name="turtle" type="string" value="turtle1" />
    </node>
    <!-- broadcast turtle2 -> world -->
    <node name="turtle2_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
      <param name="turtle" type="string" value="turtle2" />
    </node>
    <!--listener-->
    <node pkg="learning_tf" type="turtle_tf_listener.py" name="listener" />
    <!--turtle keyboard control node-->
    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
</launch>
