Add manual control launch file

una-auxme · Dec 17, 2023 · 19b10dd · 19b10dd
1 parent 810b20c
commit 19b10dd
Showing 1 changed file with 31 additions and 0 deletions.
diff --git a/code/agent/launch/agent_manual.launch b/code/agent/launch/agent_manual.launch
@@ -0,0 +1,31 @@
+<launch>
+  <arg name="role_name" default="hero" />
+  <arg name="control_loop_rate" default="0.05" />
+
+  <!-- perception -->
+  <include file="$(find perception)/launch/perception.launch">
+  </include>
+
+  <!--
+  <include file="$(find planning_runner)/launch/planning_runner.launch">
+  </include>
+
+  <include file="$(find mock)/launch/mock.launch">
+      <arg name="control_loop_rate" value="$(arg control_loop_rate)"/>
+      <arg name="role_name" value="$(arg role_name)"/>
+  </include>
+
+  <include file="$(find acting)/launch/acting.launch">
+      <arg name="control_loop_rate" value="$(arg control_loop_rate)"/>
+      <arg name="role_name" value="$(arg role_name)"/>
+  </include>
+  -->
+
+  <node pkg="carla_manual_control" type="carla_manual_control.py" name="carla_manual_control_$(arg role_name)" output="screen">
+    <param name="role_name" value="$(arg role_name)"/>
+  </node>
+
+
+  <node pkg="rqt_gui" type="rqt_gui" name="rqt_gui"/>
+  <node type="rviz" name="rviz" pkg="rviz" args="-d $(find agent)/config/rviz_config.rviz" />
+</launch>