Agent.launch 2.07 KB
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<launch>

	<!-- INPUT ARGUMENT OF THE AGENT's ID -->
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	<arg name="agentID" default="$(optenv DFALL_DEFAULT_AGENT_ID)" />
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	<!-- Example of how to use the value in agentID -->
    <!-- <param name="param" value="$(arg agentID)"/> -->
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    <group ns="agent$(arg agentID)">
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		<!-- CRAZY RADIO -->
		<node
			pkg    = "d_fall_pps"
			name   = "CrazyRadio"
			output = "screen"
			type   = "CrazyRadio.py"
			>
			<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
		</node>

		<!-- PPS CLIENT -->
		<node
			pkg    = "d_fall_pps"
			name   = "PPSClient"
			output = "screen"
			type   = "PPSClient"
			>
			<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
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			<param name="agentID" value="$(arg agentID)" />
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		</node>

		<!-- SAFE CONTROLLER -->
		<node
			pkg    = "d_fall_pps"
			name   = "SafeControllerService"
			output = "screen"
			type   = "SafeControllerService"
			>
		</node>

		<!-- DEMO CONTROLLER -->
		<node
			pkg    = "d_fall_pps"
			name   = "DemoControllerService"
			output = "screen"
			type   = "DemoControllerService"
			>
		</node>

		<!-- PARAMETER SERVICE -->
		<node
			pkg    = "d_fall_pps"
			name   = "ParameterService"
			output = "screen"
			type   = "ParameterService"
			>
			<param name="type"     type="str"  value="agent" />
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			<param name="agentID"  type="str"  value="$(arg agentID)" />
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			<rosparam
				command = "load"
				file    = "$(find d_fall_pps)/param/SafeController.yaml"
				ns      = "SafeController"
			/>
			<rosparam
				command = "load"
				file    = "$(find d_fall_pps)/param/DemoController.yaml"
				ns      = "DemoController"
			/>
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			<rosparam
				command = "load"
				file    = "$(find d_fall_pps)/param/StudentController.yaml"
				ns      = "StudentController"
			/>
			<rosparam
				command = "load"
				file    = "$(find d_fall_pps)/param/MpcController.yaml"
				ns      = "MpcController"
			/>
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		</node>

		<!-- AGENT GUI (aka. the "student GUI") -->
	    <node
	    	pkg    = "d_fall_pps"
	    	name   = "student_GUI"
	    	output = "screen"
	    	type   = "student_GUI">
		</node>
		
	</group>

</launch>