From 2698a733046176c314b5851a650daccc5fc1285b Mon Sep 17 00:00:00 2001
From: rlj5 <lu.rosanna5@gmail.com>
Date: Sat, 4 Apr 2026 03:18:20 +0000
Subject: [PATCH 1/2] Removed keyboard from tasks.json

---
 .vscode/tasks.json | 42 ++++++++++++++++++++----------------------
 1 file changed, 20 insertions(+), 22 deletions(-)

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 8b0feafe..bd9171eb 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -48,17 +48,17 @@
 			"label": "colcon: Colcon Build Debug"
 		},
 		{
-            "label": "IGVC: Open simulation scenario",
-            "type": "shell",
+			"label": "IGVC: Open simulation scenario",
+			"type": "shell",
 			"command": "source install/setup.bash && ros2 launch igvc_bringup bringup.launch.py use_sim:=true",
-            "problemMatcher": [],
+			"problemMatcher": [],
 			"hide": true
 		},
 		{
-            "label": "IGVC: Open non-SLAM simulation scenario",
-            "type": "shell",
+			"label": "IGVC: Open non-SLAM simulation scenario",
+			"type": "shell",
 			"command": "source install/setup.bash && ros2 launch igvc_bringup bringup.launch.py use_sim:=true use_slam:=false",
-            "problemMatcher": [],
+			"problemMatcher": [],
 			"hide": true
 		},
 		{
@@ -67,22 +67,20 @@
 			"command": "source install/setup.bash; gnome-terminal --title 'Teleop twist keyboard' -- sh -c 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/bot_drive_controller/cmd_vel -p use_sim_time:=true -p stamped:=true'",
 			"problemMatcher": []
 		},
-        {
-            "label": "IGVC: Run Simulation",
-            "dependsOn": [
-                "IGVC: Open simulation scenario",
-                "IGVC: Open input keyboard",
-            ],
-            "problemMatcher": []
-        },
 		{
-            "label": "IGVC: Run Barebones Simulation",
-            "dependsOn": [
-                "IGVC: Open non-SLAM simulation scenario",
-                "IGVC: Open input keyboard",
-            ],
-            "problemMatcher": []
-        }
-
+			"label": "IGVC: Run Simulation",
+			"dependsOn": [
+				"IGVC: Open simulation scenario",
+			],
+			"problemMatcher": []
+		},
+		{
+			"label": "IGVC: Run Barebones Simulation",
+			"dependsOn": [
+				"IGVC: Open non-SLAM simulation scenario",
+				"IGVC: Open input keyboard",
+			],
+			"problemMatcher": []
+		}
 	]
 }
\ No newline at end of file

From 985fd81e12c5c22e99ca3a803c6e777d413da73f Mon Sep 17 00:00:00 2001
From: rlj5 <lu.rosanna5@gmail.com>
Date: Sat, 4 Apr 2026 03:20:50 +0000
Subject: [PATCH 2/2] Updated for most recent tasks.json

---
 .vscode/tasks.json | 28 ++++++++++++++++++++++------
 1 file changed, 22 insertions(+), 6 deletions(-)

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index bd9171eb..e889d34d 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -6,7 +6,8 @@
 			"args": [
 				"build",
 				"--symlink-install",
-				"--packages-skip-regex zed_*"
+				"--packages-skip-regex",
+				"zed_*"
 			],
 			"problemMatcher": [
 				"$colcon-gcc"
@@ -22,7 +23,8 @@
 			"args": [
 				"build",
 				"--symlink-install",
-				"--packages-skip-regex zed_*",
+				"--packages-skip-regex",
+				"zed_*",
 				"--cmake-args",
 				"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
 			],
@@ -38,7 +40,8 @@
 			"args": [
 				"build",
 				"--symlink-install",
-				"--packages-skip-regex zed_*",
+				"--packages-skip-regex",
+				"zed_*",
 				"--cmake-args",
 				"-DCMAKE_BUILD_TYPE=Debug"
 			],
@@ -64,13 +67,26 @@
 		{
 			"label": "IGVC: Open input keyboard",
 			"type": "shell",
-			"command": "source install/setup.bash; gnome-terminal --title 'Teleop twist keyboard' -- sh -c 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/bot_drive_controller/cmd_vel -p use_sim_time:=true -p stamped:=true'",
+			"command": "source install/setup.bash; gnome-terminal --title 'Teleop twist keyboard' -- sh -c 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/bot_drive_controller/cmd_vel -p use_sim_time:=true -p stamped:=true' -norc",
+			"problemMatcher": []
+		},
+		{
+			"label": "IGVC: Open RTAB",
+			"type": "shell",
+			"command": "source install/setup.bash; ros2 launch igvc_slam sim_rtabmap.launch.py",
+			"problemMatcher": []
+		},
+		{
+			"label": "IGVC: Open Nav2",
+			"type": "shell",
+			"command": "source install/setup.bash; ros2 launch igvc_nav igvc_nav.launch.py",
 			"problemMatcher": []
 		},
 		{
 			"label": "IGVC: Run Simulation",
 			"dependsOn": [
-				"IGVC: Open simulation scenario",
+				"IGVC: Open non-SLAM simulation scenario",
+				"IGVC: Open RTAB",
 			],
 			"problemMatcher": []
 		},
@@ -78,7 +94,7 @@
 			"label": "IGVC: Run Barebones Simulation",
 			"dependsOn": [
 				"IGVC: Open non-SLAM simulation scenario",
-				"IGVC: Open input keyboard",
+				"IGVC: Open input keyboard"
 			],
 			"problemMatcher": []
 		}