<launch>

  <arg name="reset" default="false"/>
  <!-- If not specified, we'll use a default database location -->
  <arg name="moveit_warehouse_database_path" default="$(find yunhua_1006a_moveit_config)/default_warehouse_mongo_db" />

  <!-- Launch the warehouse with the configured database location -->
  <include file="$(dirname)/warehouse.launch">
    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
  </include>

  <!-- If we want to reset the database, run this node -->
  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />

</launch>
