sim_for_rtreach_multi_agent.launch

<?xml version="1.0"?>
<launch>

<!--This prevents the gazebo from displaying in a window
    The idea is this will help with performance. We will 
    have to see-->
<arg name="gui" default="true" />

<arg name="docker" default="false"/>

<!--How many boxes to let rviz visualize-->
<arg name="box_display_limit" default="100"/>

<!-- reach-time is the time we are computing reachability for-->
<arg name="reach_time" default="1.0"/>

<!--wall-time is the time we allow the reachability algorithm to run for-->
<arg name="wall_time" default="1.0"/>

<arg name="debug" default=""/>

<!--number of vehicles to launch in the simulation environment-->
<arg name='number_of_cars' default='2'/>

<!--Select the car we are computing reachability for-->
<arg name='car_name' default='racecar2'/>

<arg name="rviz_disp" default="multiagent_reach.rviz"/>

<!--network model utilized for end-to-end driving-->
<arg name="model_name" default="minivgg_center_data.hdf5"/>

<!--Launch The Model-->
<node pkg="computer_vision" name="lec_model" type="ros_classifier.py" args="$(arg car_name) $(find computer_vision)models/$(arg model_name) 1" required="true" output="log"/>

<!--  This is the main launch file that launches the world, plugins, controllers, vehicles -->
  <include file="$(find race)/launch/multi_parametrizeable.launch">
      <arg name="number_of_cars" value="$(arg number_of_cars)"/>
      <arg name="gui" value="$(arg gui)"/>
      <arg name="rviz_disp" value="$(arg rviz_disp)"/>
  </include>

  <!--launch the speed node it will be constant in this case-->
  <node name="speed_node_$(arg car_name)" pkg="race" type="speed_node.py"  args='$(arg car_name)'/>

  <!-- generation of safety controller-->
  <node pkg="race" type="safety_controller.py" name="safety_node" args="$(arg car_name)/scan $(arg car_name)/safety" output="screen"/>

  <!-- decision manager-->
  <node pkg="race" type="rtreach_decision_manager.py" name="decision_manager" args="$(arg car_name) vesc2" output="screen"/>


<!-- These are the nodes for publishing the reachability information for each of the vehicles-->
<node name="vehicle_1" pkg="rtreach" type="visualize_obs" unless="$(arg docker)" args="racecar   $(arg wall_time) $(arg reach_time) $(arg box_display_limit)" output="log"/>
<node name="vehicle_2" pkg="rtreach" type="visualize_obs" unless="$(arg docker)" args="racecar3  $(arg wall_time) $(arg reach_time) $(arg box_display_limit)" output="log"/>

<!--Node for Visualizing reachsets that allows customization through parameters-->
<node name="vis_agent_param" pkg="rtreach" unless="$(arg docker)" type="vis_node_param" output="screen" args=" 10 $(arg reach_time) $(arg box_display_limit) $(arg debug)"/>


<node pkg="race" name="disparity_extender_racear" type="disparity_extender_vanderbilt_gen.py" args="racecar"/>
<node pkg="race" name="disparity_extender_racear3" if="$(eval arg('number_of_cars')==3)" type="disparity_extender_vanderbilt_gen.py" args="racecar3"/>

<!--Node for wall points-->
<node name="wall_points" pkg="rtreach" type="publish_wall_points.py" unless="$(arg docker)" output="screen" args="porto"/>

<!--Reachability safety node that incorporates dynamic obstacles-->
<node name="reach_agent_param" pkg="rtreach" type="reach_node_dyn" output="log" unless="$(arg docker)" args=" $(arg wall_time) $(arg reach_time) $(arg box_display_limit) $(arg debug)"/>

<!--ttc node-->
<node pkg="race" type="ttc.py" name="ttc" required="true" args = "$(arg car_name)" output="screen"/>

<!--plot reachability results-->
<node pkg="race" type="plot_reachability_results.py" name="res_plot" required="false" output="screen"/>

</launch>