Feature/launch all

launch_all/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(launch_all)
+
+# catkin_python_setup()
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES launch_all
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)

launch_all/launch/launch_all.launch

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+<launch>
+    <arg name="carla_bridge" default="True"/>
+    <arg name="rviz" default="true"/>
+
+    <group if="$(arg carla_bridge)">
+        <include file="$(find carla_setup)/launch/carla.launch"/>
+        <node pkg="carla_setup" type="test_carla_ackermann_control.py" 
+              name="carla_ackermann" output="screen" required="True" />
+    </group>
+
+    <group if="$(arg rviz)">
+        <node type="rviz" name="rviz" pkg="rviz" args="-d $(find launch_all)/rviz/rviz_config.rviz"/>
+    </group>
+
+    <!-- The other nodes should be added once they have been -->
+    <!-- individually tested in their integration branches.   -->
+</launch>

launch_all/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>launch_all</name>
+  <version>0.0.0</version>
+  <description>The launch_all package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="declan@todo.todo">declan</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+  </export>
+</package>

launch_all/rviz/rviz_config.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 70
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /Pose (Pure Pursuit)1
+        - /Planned Path1
+        - /Pose1
+        - /Path1
+        - /Path2
+      Splitter Ratio: 0.5
+    Tree Height: 596
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        vehicle:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          vehicle:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 114; 159; 0
+      Enabled: true
+      Head Length: 0
+      Head Radius: 0
+      Name: Pose (Pure Pursuit)
+      Shaft Length: 2
+      Shaft Radius: 4
+      Shape: Arrow
+      Topic: /target
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 255; 0
+      Enabled: true
+      Head Diameter: 0.05000000074505806
+      Head Length: 0.05000000074505806
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Planned Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 245; 121; 0
+      Pose Style: Arrows
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.05000000074505806
+      Shaft Length: 0.10000000149011612
+      Topic: /planned_path
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.10000000149011612
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 2
+      Shaft Radius: 1
+      Shape: Arrow
+      Topic: /vehicle_location_pub
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /lookahead_shape
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 10; 180; 255
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /speed_visual_pub
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 123.88711547851562
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -3.3309292793273926
+        Y: -4.978850841522217
+        Z: -8.531988143920898
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: true
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
+      Target Frame: world
+      Value: Orbit (rviz)
+      Yaw: 1.6531128883361816
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 1.4665813446044922
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 3.5813753604888916
+          Y: 18.787134170532227
+          Z: 79.48344421386719
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: true
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: -1.5697963237762451
+        Target Frame: <Fixed Frame>
+        Value: Orbit (rviz)
+        Yaw: 1.9803862571716309
+      - Class: rviz/Orbit
+        Distance: 0.4325101971626282
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 3.5813753604888916
+          Y: 18.787134170532227
+          Z: 79.48344421386719
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: true
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: -1.5697963237762451
+        Target Frame: vehicle
+        Value: Orbit (rviz)
+        Yaw: 1.9803862571716309
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 872
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001dd000002d5fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002d5000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000029a0000006f00000000000000000000000100000100000002d5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002d5000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a000000037fc0100000002fb0000000800540069006d00650100000000000005a00000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000002b7000002d500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1440
+  X: 1366
+  Y: 0