Updated launch files

CMU-Robotics-Club · Feb 3, 2024 · 653100c · 653100c
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commit 653100c
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Showing 2 changed files with 26 additions and 25 deletions.
diff --git a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch b/rb_ws/src/buggy/launch/sim_2d_2buggies.launch
@@ -3,34 +3,36 @@
 <!-- <arg name="name" value="INS" /> -->
 
 <launch>
-    <arg name="sc_controller"       default="stanley" />
-    <arg name="sc_start_dist"       default="0.0" />
-    <arg name="sc_path"             default="buggycourse_safe_1.json" />
     <arg name="sc_starting_pose"    default="Hill1_SC" />
     <arg name="sc_velocity"         default="15.0" />
 
     <arg name="nand_controller"     default="stanley" />
-    <arg name="nand_start_dist"     default="30.0" />
     <arg name="nand_path"           default="buggycourse_safe_1.json" />
+
     <arg name="nand_starting_pose"  default="Hill1_NAND" />
-    <arg name="nand_velocity"       default="12.0" />
+    <arg name="nand_velocity"       default="10.0" />
+
 
-    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />  
+
+    <node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen" 
+        args="$(arg nand_starting_pose) $(arg nand_velocity) NAND"/>
+    <!-- <node name="nand_vel_updater" pkg="buggy" type="velocity_updater.py"
+        output="screen" args="$(arg nand_velocity) NAND"/> -->
+
+    <!-- NAND is not aware of SC -->
+    <arg name="nand_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name NAND" />
+    <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
+        args="$(arg nand_autonsystem_args)"/>
 
     <node name="sc_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
         args="$(arg sc_starting_pose) $(arg sc_velocity) SC"/>
-    <node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
-        output="screen" args="$(arg sc_velocity) SC"/>
+    <!-- <node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
+        output="screen" args="$(arg sc_velocity) SC"/> -->
 
-    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+    <arg name="sc_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC --other_name NAND" />
     <node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
-        args="$(arg sc_controller) $(arg sc_start_dist) $(arg sc_path) SC True"/>
+        args="$(arg sc_autonsystem_args)"/>
 
-    <node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen" 
-        args="$(arg nand_starting_pose) $(arg nand_velocity) Nand"/>
-    <node name="nand_vel_updater" pkg="buggy" type="velocity_updater.py"
-        output="screen" args="$(arg nand_velocity) Nand"/>
 
-    <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
-        args="$(arg nand_controller) $(arg nand_start_dist) $(arg nand_path) Nand True"/>
 </launch>
diff --git a/rb_ws/src/buggy/launch/sim_2d_single.launch b/rb_ws/src/buggy/launch/sim_2d_single.launch
@@ -3,21 +3,20 @@
 <!-- <arg name="name" value="INS" /> -->
 
 <launch>
-    <arg name="buggy_name"       default="SC" />
-    <arg name="controller"       default="stanley" />
-    <arg name="start_dist"       default="0.0" />
-    <arg name="path"             default="buggycourse_safe_1.json" />
+    <arg name="autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC" />
     <arg name="starting_pose"    default="Hill1_SC" />
     <arg name="velocity"         default="15.0" />
-
+    <arg name="buggy_name"       default="SC" />
+
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
 
     <node name="sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
         args="$(arg starting_pose) $(arg velocity) $(arg buggy_name)"/>
-    <node name="vel_updater" pkg="buggy" type="velocity_updater.py"
-        output="screen" args="$(arg velocity) $(arg buggy_name)"/>
-    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+
+    <!-- <node name="vel_updater" pkg="buggy" type="velocity_updater.py"
+        output="screen" args="$(arg velocity) $(arg buggy_name)"/> -->
+
     <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
-        args="$(arg controller) $(arg start_dist) $(arg path) $(arg buggy_name) True"/>
+        args="$(arg autonsystem_args)"/>
 
 </launch>