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Creating Stable Ros Launch & Exit (Fortress Noetic) #1059

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Creating Stable Ros Launch & Exit (Fortress Noetic) #1059

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16 changes: 10 additions & 6 deletions subt_ros/launch/competition_init.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -12,24 +12,27 @@
<param name="/world_name" value="$(arg world_name)"/>
<rosparam param="/robot_names" subst_value='true'>$(arg robot_names)</rosparam>

<node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock[ignition.msgs.Clock">
<node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock" required="true">
</node>

<node
pkg="subt_ros"
type="subt_ros_relay"
name="subt_ros_relay"/>
name="subt_ros_relay"
required="true"/>

<node
pkg="subt_ros"
type="bridge_logger"
name="bridge_logger"/>
name="bridge_logger"
required="true"/>


<node
pkg="subt_ros"
type="rostopic_stats_logger.sh"
name="rostopic_stats_logger"/>
name="rostopic_stats_logger"
required="true"/>

<group if="$(arg enable_ground_truth)">
<!-- In the case that ground truth is enabled, also relay the /set_pose
Expand All @@ -39,9 +42,10 @@
<node
pkg="subt_ros"
type="set_pose_relay"
name="set_pose_relay"/>
name="set_pose_relay"
required="true"/>
</group>

<node pkg="tf2_ros" type="static_transform_publisher" name="tf_world_static" args="0 0 0 0 0 0 world $(arg world_name)"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="tf_world_static" args="0 0 0 0 0 0 world $(arg world_name)" required="true"/>

</launch>