From 87a7353ba2f18d0a2ca6f6485b3987ed1aefea81 Mon Sep 17 00:00:00 2001
From: Guillaume Sarthou <gsarthou@laas.fr>
Date: Thu, 8 Aug 2024 14:10:36 +0200
Subject: [PATCH] [launch] add tuto_overworld launch file

---
 config/tuto.yaml                       | 28 ++++++++++++++++++++++++++
 launch/tutorials/tuto_overworld.launch |  7 +++++++
 2 files changed, 35 insertions(+)
 create mode 100644 config/tuto.yaml
 create mode 100644 launch/tutorials/tuto_overworld.launch

diff --git a/config/tuto.yaml b/config/tuto.yaml
new file mode 100644
index 00000000..5351c18f
--- /dev/null
+++ b/config/tuto.yaml
@@ -0,0 +1,28 @@
+modules:
+  robot:
+    JointStatePerceptionModule: robot_joints
+  humans:
+    FakeHumanPerceptionModule: steve_module
+  objects:
+    FakeObjectPerceptionModule:
+      - fake_1
+      - fake_2
+    StaticObjectsPerceptionModule: static
+
+robot_joints:
+  min_period : 0.09
+  robot_name: eve
+
+fake_1:
+  topic: /overworld/fake_objects_poses
+  sensor_id: 
+    - eve_eye
+
+fake_2:
+  true_id: false
+  topic: /overworld/fake_false_objects_poses
+  sensor_id:
+    - eve_eye
+
+static:
+  file: package://overworld/config/adream.yaml
\ No newline at end of file
diff --git a/launch/tutorials/tuto_overworld.launch b/launch/tutorials/tuto_overworld.launch
new file mode 100644
index 00000000..68824c8d
--- /dev/null
+++ b/launch/tutorials/tuto_overworld.launch
@@ -0,0 +1,7 @@
+<launch>
+  <arg name="configuration_file" default="$(find overworld)/config/tuto.yaml"/>
+  <arg name="robot_name" default="eve"/>
+  <arg name="simulate" default="false"/>
+
+  <node name="overworld" pkg="overworld" type="overworld_node" output="screen" args="-c $(arg configuration_file) -n $(arg robot_name) -s $(arg simulate)"/>
+</launch>