master.launch

<!-- pass argument like: roslaunch truck_master master.launch gamepad_rate:=50.0  -->

<launch>
  <arg name="visual" default="true"/>
  <arg name="sim" default="true"/>
  <arg name="rpi" default="false"/>
  <arg name="obstacles" default="true" />
  <arg name="path_planning" default="true"/>
  <arg name="auto_master" default="true"/>
  
  <arg name="hw_api" default="false"/>
  
  <arg name="gamepad" default="true"/>
  <arg name="gamepad_rate" default="50.0" />
  <arg name="gamepad_type" default="xbox"/>
  <arg name="gamepad_input" default="/dev/input/js0"/>
  <arg name="gulliview" default="true"/>
  
  
  <group if="$(arg sim)">
    
    <node name= "sim" pkg= "truck_automatic_ctrl" type="sim.py"/>
    
    
  </group>
  
  <group unless="$(arg sim)">
      
      <node if="$(arg gulliview)" name= "gulliview" pkg= "gulliview_server" type="gulliview"/>
      
      <group if="$(arg hw_api)">
         <node name="cmd_node" pkg="truck_hw_api" type="cmd_node.py" />
         <node name="trailersensor" pkg="truck_hw_api" type="trailersensor.py"/>
      </group>
      
      
      <node name="master" pkg="truck_master" type="master.py" />
      
      
      
      <group if="$(arg gamepad)">
        <node name="joy_node" pkg="joy" type="joy_node" >
          <param name="autorepeat_rate" type="double" value="$(arg gamepad_rate)" />
          <param name="coalesce_rate" type="double" value="$(eval 1.0 / arg('gamepad_rate'))" />
          <param name="dev" type="string" value="$(arg gamepad_input)"/>
        </node>

        <node name="gamepad" pkg="truck_manual_ctrl" type="gamepad.py">
          <param name="rate" type="double" value="$(arg gamepad_rate)" />
          <param name="type" type="string" value="$(arg gamepad_type)" />
        </node>
      
      </group>

  
  </group>
  
  
  <group if="$(arg visual)" >
        <node name= "visualization" pkg= "truck_visualization" type="visualization.py"/>
        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find truck_visualization)/config.rviz" />
  </group>
  
  
  <node if="$(arg path_planning)" name="path_planning" pkg= "path_planning" type="path_planning_node.py">
     <param name="rpi" type="boolean" value="$(arg rpi)"/>
  </node>
  
  <node if="$(arg auto_master)" name= "auto_master" pkg= "truck_automatic_ctrl" type="auto_master.py">
     <param name="sim" type="boolean" value="$(arg sim)"/>
  </node>
  
  <node if="$(arg obstacles)" name="obstacle_node" pkg="truck_map" type="obstacle_node.py"/> 
  
  
  
  
</launch>