Jackack/nand sim (#36)

* added command line argument for path selection. Default path is buggycourse_safe_1.json

* added support for multi-buggy sim

* added initial velocity argument to sim

* updated launch files

* renamed launch files and added single buggy launch file (in fact did not add the new launch file due to skill issue)

* added new launch files (to fix skill issue of previous commit)

---------

Co-authored-by: Jack He <jackhe@Jacks-MacBook-Air.local>

rb_ws/src/buggy/launch/sim_2d_2buggies.launch

@@ -0,0 +1,31 @@
+<!-- roslaunch buggy main.launch simulation:=true -->
+<!-- roslaunch buggy main.launch simulation:=false -->
+<!-- <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" />
+
+    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+
+    <node name="sc_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
+        args="$(arg sc_starting_pose) $(arg sc_velocity) SC"/>
+
+    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+    <node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
+        args="$(arg sc_controller) $(arg sc_start_dist) $(arg sc_path) SC True"/>
+
+    <node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen" 
+        args="$(arg nand_starting_pose) $(arg nand_velocity) Nand"/>
+    <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
+        args="$(arg nand_controller) $(arg nand_start_dist) $(arg nand_path) Nand True"/>
+</launch>

rb_ws/src/buggy/launch/sim_2d_single.launch

@@ -0,0 +1,21 @@
+<!-- roslaunch buggy main.launch simulation:=true -->
+<!-- roslaunch buggy main.launch simulation:=false -->
+<!-- <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="starting_pose"    default="Hill1_SC" />
+    <arg name="velocity"         default="15.0" />
+
+    <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) $(arg buggy_name)"/>
+    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+    <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
+        args="$(arg controller) $(arg start_dist) $(arg path) $(arg buggy_name) True"/>
+
+</launch>