Split launch NAND and SC launch files

rb_ws/src/buggy/launch/sc-main.launch

@@ -0,0 +1,42 @@
+<!-- roslaunch buggy main.launch -->
+
+<launch>
+    <arg name="controller"      default="mpc" />
+    <arg name="start_dist"      default="0.0" />
+    <arg name="path"      default="buggycourse_safe_1.json" />
+
+    <include file="$(find microstrain_inertial_driver)/launch/microstrain.launch">
+        <arg name="params_file" value="/rb_ws/src/buggy/INS_params.yml"/>
+    </include>
+
+    <remap from="/SC/nav/odom" to="/nav/odom"/>
+    <remap from="/buggy/input/steering" to="/SC/buggy/input/steering"/>
+
+    <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
+        <param name="port" type="string" value="/dev/ttyUSB0"/>
+        <param name="baud" type="int" value="1000000"/>
+    </node>
+    <node name="serial_node2" pkg="rosserial_python" type="serial_node.py">
+        <param name="port" type="string" value="/dev/ttyACM1"/>
+        <param name="baud" type="int" value="115200"/>
+    </node>
+    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+    <node name="telematics" pkg="buggy" type="telematics.py" />
+
+
+
+
+    <!-- ENABLE AUTON -->
+    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+    <!-- Conditional Launch Files, depending on if NAND Exists or not -->
+    <arg name="NAND_exist" default="true"/>
+    <group if="$(arg NAND_exist)">
+        <!-- Run the simulation with NAND -->
+        <arg name="autonsystem_args" default="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC --other_name NAND" />
+        <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg autonsystem_args)"/>
+    </group>
+    <group unless="$(arg NAND_exist)">
+        <arg name="autonsystem_args" default="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC" />
+        <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg autonsystem_args)"/>
+    </group>
+</launch>