From 4a8331a25ce42af070189893dbfcebfdd48ecd26 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Mon, 2 Jun 2025 19:22:41 +0200
Subject: [PATCH] Make field configurable via ros launch argument

---
 .../bitbots_body_behavior/launch/behavior_standalone.launch    | 3 +++
 bitbots_misc/bitbots_bringup/launch/teamplayer.launch          | 3 +++
 bitbots_misc/bitbots_bringup/launch/vision_standalone.launch   | 3 +++
 bitbots_misc/bitbots_bringup/launch/visualization.launch       | 1 +
 4 files changed, 10 insertions(+)

diff --git a/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch b/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
index 99535c8f4..0f50b104a 100644
--- a/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
+++ b/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
@@ -2,9 +2,12 @@
 <launch>
     <arg name="sim" default="false" />
     <arg name="dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
+    <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
+        <arg name="fieldname" value="$(var fieldname)" />
     </include>
 
     <include file="$(find-pkg-share bitbots_body_behavior)/launch/behavior.launch">
diff --git a/bitbots_misc/bitbots_bringup/launch/teamplayer.launch b/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
index 38627eea5..6792032de 100644
--- a/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
+++ b/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
@@ -15,11 +15,14 @@
     <arg name="monitoring" default="true" description="Whether the system monitor and udp bridge should be started" />
     <arg name="record" default="false" description="Whether the ros bag recording should be started" />
     <arg name="tts" default="true" description="Whether to speak" />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
+    <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
+        <arg name="fieldname" value="$(var fieldname)" />
     </include>
 
     <!-- load the diagnostic aggregator -->
diff --git a/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch b/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
index 9084c2de8..5dd8e9aed 100644
--- a/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
+++ b/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
@@ -4,10 +4,13 @@
     <arg name="sim" default="false" description="true: activates simulation time, switches to simulation color settings and deactivates launching of an image provider" />
     <arg name="camera" default="true" description="true: launches an image provider to get images from a camera (unless sim:=true)" />
     <arg name="debug" default="false" description="true: activates publishing of several debug images" />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
+    <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
     <!-- Load the global parameters-->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
+        <arg name="fieldname" value="$(var fieldname)" />
     </include>
 
     <!-- Load the diagnostic aggregator-->
diff --git a/bitbots_misc/bitbots_bringup/launch/visualization.launch b/bitbots_misc/bitbots_bringup/launch/visualization.launch
index ed88010e8..901b24f92 100644
--- a/bitbots_misc/bitbots_bringup/launch/visualization.launch
+++ b/bitbots_misc/bitbots_bringup/launch/visualization.launch
@@ -5,6 +5,7 @@
     <arg name="ipm" default="false" description="if the soccer ipm should be used" />
     <arg name="motion" default="true" description="if the motion should be started" />
     <arg name="game_controller" default="false" description="if the game controller node should be started" />
+    <arg name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" />