Merge branch 'main' into 106-feature-extended-kalman-filter-for-more-…

…precise-location-measurements

code/acting/launch/acting.launch

@@ -1,4 +1,4 @@
-<!-- TODO: Insert components of acting component-->
+<!---->
 <launch>
     <arg name="role_name" default="hero" />
     <arg name="control_loop_rate" default="0.1" />
@@ -28,33 +28,31 @@
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
-    
-    <node pkg="acting" type="DummyTrajectoryPublisher.py" name="DummyTrajectoryPublisher" output="screen">
-        <param name="control_loop_rate" value="1" />
+
+    <!--node pkg="acting" type="Acting_DebuggerNode.py" name="Acting_Debugger" output="screen">
+        <param name="control_loop_rate" value="0.05" />
         <param name="role_name" value="$(arg role_name)" />
-    </node>
-
+    </node-->
 
     <node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
         <param name="control_loop_rate" value="0.05" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
 
-    <!--node pkg="acting" type="DummyTrajectorySub.py" name="DummyTrajectorySub" output="screen">
-        <param name="control_loop_rate" value="1" />
-        <param name="role_name" value="$(arg role_name)" />
-    </node-->
-
-   <!--node pkg="acting" type="acc_distance_publisher_dummy.py" name="AccDistancePublisherDummy" output="screen">
+    <node pkg="acting" type="acc_distance_publisher_dummy.py" name="AccDistancePublisherDummy" output="screen">
         <param name="role_name" value="$(arg role_name)" />
-        <param name="enabled" value="True" /> <!set to True to publish dummy velocities for testing>
-   </node-->
+        <param name="enabled" value="False" /> <!-- set to True to publish dummy velocities for testing-->
+    </node>
 
     <node pkg="acting" type="acc.py" name="Acc" output="screen">
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
 
-    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/carla/hero/Speed /paf/hero/stanley_debug/cross_err" -->
-
+    <!-- Some plot nodes for debugging speed/steering etc. -->
+    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_speed" args="/carla/hero/Speed /paf/hero/max_velocity /paf/hero/throttle /paf/hero/brake"/-->
+    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_steering" args="/paf/hero/pure_pursuit_steer /carla/hero/vehicle_control_cmd/steer /paf/hero/pure_p_debug/l_distance"/-->
+    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_trajectoryfollowing" args="/paf/hero/current_x /paf/hero/current_target_wp"/-->
+    <!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot_CONTROLLER" args="/paf/hero/controller"/-->
+
 </launch>