From 7119a9220bb11df669c52e7cd43b6a527eb95ebf Mon Sep 17 00:00:00 2001
From: Vincent Rubner <74796675+Viparu@users.noreply.github.com>
Date: Mon, 1 Jun 2026 15:30:08 +0200
Subject: [PATCH] Configured PacSim launch script to read track, discipline,
 headless-mode and report directory from the launchfile This is to be
 compatible with
 https://github.com/StarkStrom-Driverless/fsd_monostack/tree/feature/pacsim_launch_script

---
 launch/example.launch.py | 38 ++++++++++++++++++++++++++++++--------
 1 file changed, 30 insertions(+), 8 deletions(-)

diff --git a/launch/example.launch.py b/launch/example.launch.py
index 5228e4b..465706f 100644
--- a/launch/example.launch.py
+++ b/launch/example.launch.py
@@ -3,9 +3,9 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.substitutions import Command
+from launch.substitutions import Command, LaunchConfiguration
 from launch.event_handlers import OnProcessExit
-from launch.actions import RegisterEventHandler, LogInfo, EmitEvent
+from launch.actions import RegisterEventHandler, LogInfo, EmitEvent, DeclareLaunchArgument
 from launch.events import Shutdown
 
 def getFullFilePath(name, dir):
@@ -18,22 +18,44 @@ def getFullFilePath(name, dir):
 
 
 def generate_launch_description():
-  track_name = "FSG23.yaml"
+  track_name_arg = DeclareLaunchArgument(
+      'track_name',
+      default_value=getFullFilePath("FSG23.yaml", "tracks"),
+      description='Full path to the track YAML file'
+  )
+  discipline_arg = DeclareLaunchArgument(
+      'discipline',
+      default_value='autocross',
+      description='Driving discipline'
+  )
+  headless_arg = DeclareLaunchArgument(
+      'headless',
+      default_value='false',
+      description='Run in headless mode (no RViz)'
+  )
+  report_file_dir_arg = DeclareLaunchArgument(
+      'report_file_dir',
+      default_value='/tmp',
+      description='Directory to write the evaluation report file'
+  )
+
+  track_name = LaunchConfiguration('track_name')
+  discipline = LaunchConfiguration('discipline')
+  report_file_dir = LaunchConfiguration('report_file_dir')
+
   track_frame = "map"
   realtime_ratio = 1.0
-  discipline = "autocross"
 
   xacro_file_name = 'separate_model.xacro'
   xacro_path = getFullFilePath(xacro_file_name, "urdf")
 
-
   nodePacsim = Node(
           package='pacsim',
           namespace='pacsim',
           executable='pacsim_node',
           name='pacsim_node',
-          parameters = [{'use_sim_time':True}, {"track_name" : getFullFilePath(track_name, "tracks")}, {"grip_map_path" : getFullFilePath("gripMap.yaml", "tracks")}, {"track_frame" : track_frame}, {"realtime_ratio" : realtime_ratio}, 
-                        {"report_file_dir" : "/tmp"}, {"main_config_path" : getFullFilePath("mainConfig.yaml", dir="config")}, {"perception_config_path" : getFullFilePath("perception.yaml", dir="config")}, 
+          parameters = [{'use_sim_time':True}, {"track_name" : track_name}, {"grip_map_path" : getFullFilePath("gripMap.yaml", "tracks")}, {"track_frame" : track_frame}, {"realtime_ratio" : realtime_ratio},
+                        {"report_file_dir" : report_file_dir}, {"main_config_path" : getFullFilePath("mainConfig.yaml", dir="config")}, {"perception_config_path" : getFullFilePath("perception.yaml", dir="config")},
                         {"sensors_config_path" : getFullFilePath("sensors.yaml", dir="config")}, {"vehicle_model_config_path" : getFullFilePath("vehicleModel.yaml", dir="config")}, {"discipline" : discipline}],
           output="screen",
           emulate_tty=True)
@@ -56,4 +78,4 @@ def generate_launch_description():
                       'robot_description': Command(['xacro',' ',xacro_path])
                       }],
           arguments=[xacro_path])
-  return LaunchDescription([nodePacsim, nodePacsimShutdownEventHandler, robot_state_publisher])
\ No newline at end of file
+  return LaunchDescription([track_name_arg, discipline_arg, headless_arg, report_file_dir_arg, nodePacsim, nodePacsimShutdownEventHandler, robot_state_publisher])