bitbots_main/src/bitbots_misc/bitbots_bringup/launch/highlevel.launch at d2800f8d48990ec5efc6c0d8c4cf9136cc1fdf98 · bit-bots/bitbots_main · GitHub

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<?xml version="1.0"?>
<launch>
    <arg name="audio" default="true" description="Whether the audio system should be started"/>
    <arg name="behavior_dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
    <arg name="behavior" default="true" description="Whether the behavior control system should be started" />
    <arg name="game_controller" default="true" description="Whether the Gamecontroller module should be started" />
    <arg name="ipm" default="true" description="Whether the inverse perspective mapping should be started"/>
    <arg name="localization" default="true" description="Whether the localization system should be started" />
    <arg name="path_planning" default="true" description="Whether the path planning should be started"/>
    <arg name="sim" default="false" description="Whether the robot is running in simulation or on real hardware" />
    <arg name="teamcom" default="false" description="Whether the team communication system should be started" />
    <arg name="vision" default="true" description="Whether the vision system should be started" />
    <arg name="workspace_status" default="true" description="Whether to publish the current workspace status"/>
    <arg name="world_model" default="true" description="Whether the world model should be started"/>
    <arg name="whistle_detector" default="true" description="Whether whistle detector should be started"/>


    <!-- launch game controller -->
    <group if="$(var game_controller)">
        <include file="$(find-pkg-share game_controller_hsl)/launch/game_controller.launch">
            <arg name="sim" value="$(var sim)" />
            <arg name="use_parameter_blackboard" value="true" />
            <arg name="parameter_blackboard_name" value="parameter_blackboard" />
            <arg name="team_id_param_name" value="team_id" />
            <arg name="bot_id_param_name" value="bot_id" />
        </include>
    </group>

    <!-- launch vision -->
    <group if="$(var vision)">
        <include file="$(find-pkg-share bitbots_bringup)/launch/vision.launch">
            <arg name="sim" value="$(var sim)" />
        </include>
    </group>

    <!-- launch inverse perspective mapping (ipm) -->
    <group if="$(var ipm)">
        <include file="$(find-pkg-share bitbots_ipm)/launch/ipm.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
    </group>

    <!-- launch teamcom -->
    <group if="$(var teamcom)">
        <include file="$(find-pkg-share bitbots_team_communication)/launch/team_comm.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
    </group>

    <!-- launch world model -->
    <group if="$(var world_model)">
        <include file="$(find-pkg-share bitbots_ball_filter)/launch/ball_filter.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
        <include file="$(find-pkg-share bitbots_robot_filter)/launch/robot_filter.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
    </group>
    <group if="$(var whistle_detector)">
        <include file="$(find-pkg-share bitbots_whistle_detector)/launch/whistle_detector.launch"/>
    </group>
    <!-- launch localization or fake localization -->
    <group if="$(var localization)">
        <include file="$(find-pkg-share bitbots_localization)/launch/localization.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
    </group>
    <group unless="$(var localization)">
        <!-- simulate map frame -->
        <node name="map_odom" pkg="tf2_ros" exec="static_transform_publisher" args="--x 0 --y 0 --z 0 --roll 0 --pitch 0 --yaw 0 --frame-id map --child-frame-id odom" />
        <!-- publish perfect covariance -->
        <!--node name="localization_covariance" pkg="bitbots_localization" exec="rviz_localization_sim.py" output="screen" /-->
    </group>

    <!-- launch path planning -->
    <group if="$(var path_planning)">
        <include file="$(find-pkg-share bitbots_path_planning)/launch/path_planning.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
    </group>

    <!-- launch behavior -->
    <group if="$(var behavior)">
        <include file="$(find-pkg-share bitbots_body_behavior)/launch/behavior.launch">
            <arg name="dsd_file" value="$(var behavior_dsd_file)" />
            <arg name="sim" value="$(var sim)" />
        </include>
    </group>

    <!-- launch audio processing -->
    <group if="$(var audio)">
        <include file="$(find-pkg-share bitbots_bringup)/launch/audio.launch">
        </include>
    </group>

    <!-- launch workspace status publisher -->
    <group if="$(var workspace_status)">
        <group unless="$(var sim)">
            <node pkg="bitbots_utils" exec="publish_workspace_status.py" output="screen">
                <param name="workspace_status_path" value="$(find-pkg-share bitbots_utils)/config/workspace_status.json"/>
                <param name="publish_topic" value="/workspace_status"/>
            </node>
        </group>
    </group>
</launch>