From a62da31d1097e1286f29f60c252290161f54bdc3 Mon Sep 17 00:00:00 2001
From: TiaSinghania <samanvita.singhania@gmail.com>
Date: Tue, 29 Oct 2024 19:59:01 -0400
Subject: [PATCH] added command line args

---
 rb_ws/src/buggy/buggy/simulator/engine.py | 18 +++++++++++++-----
 rb_ws/src/buggy/launch/sim_2d_single.xml  | 11 +++++++++--
 2 files changed, 22 insertions(+), 7 deletions(-)

diff --git a/rb_ws/src/buggy/buggy/simulator/engine.py b/rb_ws/src/buggy/buggy/simulator/engine.py
index 55599f0..67c2473 100644
--- a/rb_ws/src/buggy/buggy/simulator/engine.py
+++ b/rb_ws/src/buggy/buggy/simulator/engine.py
@@ -25,6 +25,7 @@ def __init__(self):
         super().__init__('sim_single')
         self.get_logger().info('INITIALIZED.')
 
+
         self.starting_poses = {
             "Hill1_NAND": (Simulator.UTM_EAST_ZERO + 0, Simulator.UTM_NORTH_ZERO + 0, -110),
             "Hill1_SC": (Simulator.UTM_EAST_ZERO + 20, Simulator.UTM_NORTH_ZERO + 30, -110),
@@ -59,20 +60,27 @@ def __init__(self):
         self.navsatfix_noisy_publisher = self.create_publisher(
                 NavSatFix, "state/pose_navsat_noisy", 1
         )
+
+
+
+
+
+        self.declare_parameter('velocity', 12)
         if (self.get_namespace() == "/SC"):
             self.buggy_name = "SC"
-            init_pose = self.starting_poses["Hill1_SC"]
+            self.declare_parameter('pose', "Hill1_SC")
             self.wheelbase = Simulator.WHEELBASE_SC
 
         if (self.get_namespace() == "/NAND"):
             self.buggy_name = "NAND"
-            init_pose = self.starting_poses["Hill1_NAND"]
+            self.declare_parameter('pose', "Hill1_NAND")
             self.wheelbase = Simulator.WHEELBASE_NAND
 
+        self.velocity = self.get_parameter("velocity").value
+        init_pose_name = self.get_parameter("pose").value
+        self.init_pose = self.starting_poses[init_pose_name]
 
-        self.e_utm, self.n_utm, self.heading = init_pose
-        # TODO: do we want to not hard code this
-        self.velocity = 12 # m/s
+        self.e_utm, self.n_utm, self.heading = self.init_pose
         self.steering_angle = 0  # degrees
         self.rate = 200  # Hz
         self.pub_skip = 2  # publish every pub_skip ticks
diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml
index 550c259..ca458b8 100755
--- a/rb_ws/src/buggy/launch/sim_2d_single.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single.xml
@@ -1,8 +1,15 @@
 <launch>
+
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
     <node pkg="buggy" exec="hello_world" name="hello_world" namespace="SC" />
-    <node pkg="buggy" exec="sim_single" name="SC_sim_single" namespace="SC"/>
-    <node pkg="buggy" exec="sim_single" name="NAND_sim_single" namespace="NAND"/>
+    <node pkg="buggy" exec="sim_single" name="SC_sim_single" namespace="SC">
+        <param name="velocity" value="12"/>
+        <param name="pose" value="Hill1_SC"/>
+    </node>
+    <node pkg="buggy" exec="sim_single" name="NAND_sim_single" namespace="NAND">
+        <param name="velocity" value="12"/>
+        <param name="pose" value="Hill1_NAND"/>
+    </node>
 
     <!-- <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
     <node name="hello_world" pkg="buggy" type="hello_world" /> -->