From 19b10dd1427fb569727913534fbc7ee88bd1667c Mon Sep 17 00:00:00 2001
From: MaxJa4 <maxijannack@t-online.de>
Date: Sun, 17 Dec 2023 13:54:05 +0100
Subject: [PATCH] Add manual control launch file

---
 code/agent/launch/agent_manual.launch | 31 +++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 code/agent/launch/agent_manual.launch

diff --git a/code/agent/launch/agent_manual.launch b/code/agent/launch/agent_manual.launch
new file mode 100644
index 00000000..32e33eb6
--- /dev/null
+++ 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>