coordinator.launch 1.3 KB
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<launch>

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

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

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

	<!-- Example of how to specify the coordID from command line -->
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	<!-- roslaunch dfall_pkg coordID:=001 -->
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	<group ns="coord$(arg coordID)">

		<!-- COORDINATOR GUI -->
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		<group if="$(arg withGUI)">
			<node
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				pkg="dfall_pkg"
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				name="FlyingAgentGUI"
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				output="screen"
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				type="FlyingAgentGUI"
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				>
				<param name="type"     type="str"  value="coordinator" />
				<param name="coordID"  value="$(arg coordID)" />
			</node>
		</group>


		<!-- PARAMETER SERVICE -->
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		<node
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			pkg    = "dfall_pkg"
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			name   = "ParameterService"
			output = "screen"
			type   = "ParameterService"
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			>
			<param name="type"     type="str"  value="coordinator" />
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			<param name="coordID"  value="$(arg coordID)" />
			<rosparam
				command = "load"
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				file    = "$(find dfall_pkg)/param/BatteryMonitor.yaml"
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				ns      = "YamlFileNames"
			/>
			<rosparam
				command = "load"
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				file    = "$(find dfall_pkg)/param/ClientConfig.yaml"
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				ns      = "SafeController"
			/>
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		</node>

	</group>
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</launch>