agent.launch

<launch>

	<!-- INPUT ARGUMENT OF THE AGENT's ID -->
	<arg name="agentID" default="$(optenv DFALL_DEFAULT_AGENT_ID)" />

	<!-- INPUT ARGUMENT OF THE COORDINATOR's ID -->
	<arg name="coordID" default="$(optenv DFALL_DEFAULT_COORD_ID)" />

	<!-- INPUT ARGUMENT FOR LAUNCHING A GUI OR NOT -->
	<arg name="withGUI" default="true" />

	<!-- Example of how to use the value in agentID -->
    <!-- <param name="param" value="$(arg agentID)"/> -->

    <!-- Example of how to specify the agentID from command line -->
    <!-- roslaunch dfall_pkg agentID:=1 -->

    <group ns="$(eval 'agent' + str(agentID).zfill(3))">

		<!-- CRAZY RADIO -->
		<node
			pkg    = "dfall_pkg"
			name   = "CrazyRadio"
			output = "screen"
			type   = "CrazyRadio.py"
			>
			<rosparam command="load" file="$(find dfall_pkg)/param/BatteryMonitor.yaml" />
		</node>

		<!-- FLYING AGENT CLIENT -->
		<node
			pkg    = "dfall_pkg"
			name   = "FlyingAgentClient"
			output = "screen"
			type   = "FlyingAgentClient"
			>
			<param name="agentID" value="$(arg agentID)" />
			<param name="coordID" value="$(arg coordID)" />
		</node>

		<!-- BATTERY MONITOR -->
		<node
			pkg    = "dfall_pkg"
			name   = "BatteryMonitor"
			output = "screen"
			type   = "BatteryMonitor"
			>
		</node>

		<!-- DEFAULT CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "DefaultControllerService"
			output = "screen"
			type   = "DefaultControllerService"
			>
		</node>

		<!-- STUDENT CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "StudentControllerService"
			output = "screen"
			type   = "StudentControllerService"
			>
		</node>

		<!-- REMOTE CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "RemoteControllerService"
			output = "screen"
			type   = "RemoteControllerService"
			>
		</node>

		<!-- TUNING CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "TuningControllerService"
			output = "screen"
			type   = "TuningControllerService"
			>
		</node>

		<!-- PICKER CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "PickerControllerService"
			output = "screen"
			type   = "PickerControllerService"
			>
		</node>

		<!-- TEMPLATE CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "TemplateControllerService"
			output = "screen"
			type   = "TemplateControllerService"
			>
		</node>

		<!-- TEST MOTORS CONTROLLER -->
		<node
			pkg    = "dfall_pkg"
			name   = "TestMotorsControllerService"
			output = "screen"
			type   = "TestMotorsControllerService"
			>
		</node>

		<!-- PARAMETER SERVICE -->
		<node
			pkg    = "dfall_pkg"
			name   = "ParameterService"
			output = "screen"
			type   = "ParameterService"
			>
			<param name="type"     type="str"  value="agent" />
			<param name="agentID"  value="$(arg agentID)" />
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/FlyingAgentClientConfig.yaml"
				ns      = "FlyingAgentClientConfig"
			/>
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/BatteryMonitor.yaml"
				ns      = "BatteryMonitor"
			/>
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/SafeController.yaml"
				ns      = "SafeController"
			/>
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/RemoteController.yaml"
				ns      = "RemoteController"
			/>
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/TuningController.yaml"
				ns      = "TuningController"
			/>
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/PickerController.yaml"
				ns      = "PickerController"
			/>
			<rosparam
				command = "load"
				file    = "$(find dfall_pkg)/param/TemplateController.yaml"
				ns      = "TemplateController"
			/>
		</node>


		<!-- AGENT GUI (aka. the "student GUI") -->
		<group if="$(arg withGUI)">
			<node
				pkg    = "dfall_pkg"
				name   = "FlyingAgentGUI"
				output = "screen"
				type   = "FlyingAgentGUI"
				>
				<param name="type"     type="str"  value="agent" />
				<param name="agentID"  value="$(arg agentID)" />
			</node>
		</group>
		
	</group>

</launch>