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gtagency / buzzmobile

An autonomous parade float/vehicle
MIT License
18 stars 3 forks source link

Add launch files, restructure to use subsystem launches as includes #98

Closed kpberry closed 7 years ago

irapha commented 8 years ago

Let's test this before review

irapha commented 8 years ago

Also please compare what we have here with what we have in the odom_launch_test branch (https://github.com/gtagency/buzzmobile/compare/odom_launch_test?expand=1#diff-70ded371a262786239dd11de118c2c46R5) as we modified the latter for debugging during testing yesterday and it might have important changes that we need here.

irapha commented 8 years ago

If you want to clean up this PR and then make another one with more highlevel launch files, I'm ok with that. You can have all the subsystems launch files in buzzmobile/launch/subsystems/controller.launch etc, then you have a buzzmobile/launch/main.launch that includes the subsystems like so:

<launch>
    <group>
        <include file="$(find buzzmobile)/launch/subsystems/controller.launch" />
        <include file="$(find buzzmobile)/launch/subsystems/lidar.launch" />
        etc
    </group>
</launch>