From 1113fa374b7466cb4ba3b68417f562f225541652 Mon Sep 17 00:00:00 2001
From: Marvin Langenkaemper <marvin.langenkaemper@tu-dortmund.de>
Date: Sun, 2 Aug 2020 15:41:31 +0200
Subject: [PATCH] created launch-file for q_learning drive on car

---
 ros_ws/launch/car_q_learning_drive.launch | 120 ++++++++++++++++++++++
 1 file changed, 120 insertions(+)
 create mode 100644 ros_ws/launch/car_q_learning_drive.launch

diff --git a/ros_ws/launch/car_q_learning_drive.launch b/ros_ws/launch/car_q_learning_drive.launch
new file mode 100644
index 00000000..67ec3fc6
--- /dev/null
+++ b/ros_ws/launch/car_q_learning_drive.launch
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <arg name="joystick_type" default="xbox360"/>
+    <arg name="record" default="false"/>
+    <arg name="videohd" default="false"/>
+
+    <!-- Mode Override
+        1 forces manual driving
+        2 forces autonomous driving
+        0 uses user input to enable the modes
+    -->
+    <arg name="mode_override" default="0"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find racer_description)/urdf/racer.xacro'"/>
+
+    <include file="$(find car_control)/launch/car_control.launch">
+        <arg name="mode_override" value="$(arg mode_override)"/>
+    </include>
+
+    <include file="$(find teleoperation)/launch/remote_control.launch">
+        <arg name="joystick_type" value="$(arg joystick_type)"/>
+    </include>
+    
+    <!-- zed camera launch file -->
+    <!-- Include racer with 720p camera -->
+    <group if="$(arg videohd)">
+	<!--<include file="./launch/zed_720.launch"/>-->
+    </group>
+    
+    <!-- Include racer with VGA camera -->
+    <group unless="$(arg videohd)">
+	<!--<include file="./launch/zed.launch"/>-->
+    </group>
+
+    <!--<include file="$(find emergency_stop)/launch/emergency_stop.launch"/>-->
+
+    <include file="$(find vesc_driver)/launch/vesc_driver_node.launch"/>
+
+    <rosparam command="load" file="$(find vesc_sim)/config/car_config.yaml"/>
+
+    <include file="$(find vesc_ackermann)/launch/vesc_to_odom_node.launch"/>
+
+    
+    <!-- wallfollowing start - please enable only one -->
+    <!-- current implementation -->
+    <!--<include file="$(find wallfollowing5)/launch/autonomous_driving_physical.launch"/>-->
+    
+    <!-- former implementation of previous group -->
+    <include file="$(find wallfollowing2)/launch/autonomous_driving_physical.launch">
+        <arg name="topic_drive_param" value="/input/drive_param/wf2rl"/>
+    </include>
+    <!-- wallfollowing end -->
+
+    <include file="$(find reinforcement_learning)/launch/drive_q_learning_time_reward.launch">
+    </include>
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
+
+    <include file="$(find hardware)/launch/static_wheel_publisher.launch"/>
+    
+    <arg name="show_rviz" default="1"/>
+    <group if="$(eval arg('show_rviz') == 1)">
+        <!-- rviz start - please enable only one -->
+        <!-- default rviz config -->
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find racer_world)/launch/car.rviz"/>
+
+        <!-- rviz config with enabled video recording -->
+        <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find racer_world)/launch/car_record.rviz"/> -->
+        <!-- rviz end - please enable only one -->
+    </group>
+
+    <!--<node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node">-->
+	    <!--	    <rosparam file="$(find hardware)/razor_imu_config.yaml" command="load"/>-->
+	    <!--    </node>-->
+
+    <!--<include file="$(find imu_velocity)/launch/car_imu_velocity.launch" /> -->
+
+    <include file="$(find boxing)/launch/boxing.launch">
+        <arg name="topic_input_cloud" value="/scan/lidar/cartesian" />
+        <arg name="topic_input_colored_cloud" value="/racer/camera1/depth/points" />
+        <arg name="topic_voxels" value="/scan/voxels" />
+    </include>
+
+    <include file="$(find voxel_classifier)/launch/voxel_classifier.launch">
+        <arg name="topic_input_voxels" value="/scan/voxels" />
+        <arg name="topic_output_clusters" value="/scan/clusters" />
+    </include>
+
+    <include file="$(find wall_detection)/launch/wall_detection.launch">
+        <arg name="topic_input_clusters" value="/scan/clusters" />
+        <arg name="topic_output_walls" value="/obstacles/walls" />
+        <arg name="topic_output_obstacles" value="/obstacles/obstacles" />
+    </include>
+ 
+    <include file="$(find car_tf)/launch/car_transformer.launch" />
+
+    <node pkg="urg_node" type="urg_node" name="urg_node">
+        <param name="ip_address" value="192.168.1.10"/>
+    </node>
+    
+    <group if="$(arg record)">
+        <node pkg="image_view" type="video_recorder" name="video_record_cam">
+            <remap from="image" to="/zed/zed/zed_node/left/image_rect_color"/>
+            <param name="fps" value="30" />
+            <param name="filename" value="output-cam.avi" />
+        </node>       
+    </group>
+
+    <!-- publishes the approximated maximal possible speed for a certain position on the track -->
+    <!--<node pkg="simulation_tools" type="speed_info" name="speed_info" respawn="true" output="screen"/>-->
+
+    <!-- needed for logging telemetry data and provide node for rviz -->
+    <!-- arguments -->
+    <!-- 1: log prefix (string), default: none -->
+    <!-- 2: length for min/max arrays (int), default: 100 -->
+    <!-- 3: smoothing value of acceleration (int), default: 5 -->
+    <!-- 4: whether its simulation or not (string: yes|no), default: no -->
+    <!-- 5: whether write statistics or not (string: yes|no), default: no -->
+    <!--<node pkg="simulation_tools" type="log_stats.py" name="log_stats" output="screen" args="wallfollowing 100 10 no yes"/>-->
+</launch>