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Updated PacSim launch script #2

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Updated PacSim launch script #2

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38 changes: 30 additions & 8 deletions launch/example.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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):
Expand All @@ -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)
Expand All @@ -56,4 +78,4 @@ def generate_launch_description():
'robot_description': Command(['xacro',' ',xacro_path])
}],
arguments=[xacro_path])
return LaunchDescription([nodePacsim, nodePacsimShutdownEventHandler, robot_state_publisher])
return LaunchDescription([track_name_arg, discipline_arg, headless_arg, report_file_dir_arg, nodePacsim, nodePacsimShutdownEventHandler, robot_state_publisher])