added more nodes form sim_launch

purdue-arc · Apr 20, 2024 · 1824dec · 1824dec
1 parent d617633
commit 1824dec
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Showing 2 changed files with 39 additions and 13 deletions.
diff --git a/src/rktl_launch/launch/test.launch.py b/src/rktl_launch/launch/test.launch.py
@@ -41,15 +41,6 @@ def generate_launch_description():
                 'global_parms.yaml'
     )
 
-    ball_node = Node(
-        package='rktl_control',
-        executable='topic_delay',
-        arguments=["pose_sync_early", 
-                   "pose_sync", 
-                   "geometry_msgs/PoseWithCovarianceStamped",LaunchConfiguration('perception_delay')
-                   ]
-    )
-
     # START Group Action ------------------
     remap1 = SetRemap(
         src="/cars/car0/odom",
@@ -81,8 +72,6 @@ def generate_launch_description():
         ),
     )
 
-    print(f"global_params: {global_config}")
-
     group_action1 = GroupAction(
         actions=[
             remap1,
@@ -93,15 +82,53 @@ def generate_launch_description():
     )
     # END Group Action ------------------
 
+    ball_node = Node(
+        name='ball',
+        package='rktl_control',
+        executable='topic_delay',
+        arguments=["pose_sync_early", 
+                   "pose_sync", 
+                   "geometry_msgs/PoseWithCovarianceStamped",LaunchConfiguration('perception_delay')
+                   ]
+    )
+
+    car_node = Node(
+        name='car',
+        package='rktl_control',
+        executable='topic_delay',
+        arguments=["pose_sync_early", 
+                   "pose_sync", 
+                   "geometry_msgs/PoseWithCovarianceStamped",LaunchConfiguration('perception_delay')
+                    ]
+    )
+
+    perspective_file = os.path.join(
+        get_package_share_directory('rktl_launch'), 
+                'rqt',
+                'rktl.perspective'
+    )
+
+    rqt_gui_node = Node(
+        package='rqt_gui',
+        executable='rqt_gui',
+        name='rqt_gui',
+        arguments=['--perspective-file',
+                   perspective_file
+                    ]
+
+    )
+
 
     return LaunchDescription([
         render_launch_arg,
         sim_mode_launch_arg,
         perception_delay_launch_arg,
         agent_type_launch_arg,
         autonomy_weights_launch_arg,
+        group_action1,
         ball_node,
-        group_action1
+        car_node,
+        rqt_gui_node
     ])
 
 

diff --git a/src/rktl_sim/launch/test_visualizer.launch.py b/src/rktl_sim/launch/test_visualizer.launch.py
@@ -36,7 +36,6 @@ def generate_launch_description():
         ]
     )
 
-
     return LaunchDescription([
         visualizer_node
     ])
-Original file line number
+Diff line change
@@ Expand Up / @@ -36,7 +36,6 @@ def generate_launch_description(): @@
             ]
         )
         return LaunchDescription([
             visualizer_node
         ])
@@ Expand Down @@