Sm modules

darwin_apps/launch/charge/charge_sim.launch

+<launch>
+
+  <arg name="robot" default="darwin" />
+  <arg name="environment" default="charge_env" />
+
+  <include file="$(find darwin_description)/launch/darwin_sim.launch">
+    <arg name="robot" value="$(arg robot)" />
+  </include>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+  <include file="$(find darwin_description)/launch/charge_env.launch">
+    <arg name="environment" value="$(arg environment)" />
+  </include>
+
+</launch>
+