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Jackack/nand sim #36

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merged 7 commits into from
Nov 17, 2023
Merged

Jackack/nand sim #36

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4e8fadb
added command line argument for path selection. Default path is buggy…
Jackack Apr 6, 2023
2ab29f6
added support for multi-buggy sim
Jackack Sep 30, 2023
6a2ef8e
added initial velocity argument to sim
Jackack Oct 2, 2023
bf224da
updated launch files
Jackack Oct 23, 2023
f267acb
renamed launch files and added single buggy launch file
Nov 13, 2023
0d57d88
added new launch files
Nov 17, 2023
2d6354e
Merge branch 'main' of https://github.com/CMU-Robotics-Club/RoboBuggy…
Nov 17, 2023
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31 changes: 31 additions & 0 deletions rb_ws/src/buggy/launch/sim_2d_2buggies.launch
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Original file line number Diff line number Diff line change
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<!-- 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>
21 changes: 21 additions & 0 deletions rb_ws/src/buggy/launch/sim_2d_single.launch
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<!-- 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>