skynetmini.launch

<launch>

  <!-- In this launchfile, we demonstrate how to set some initial variables as parameters,
    how to record the output file to a place that is persistent, and how to 
  use a namespace for the node in which we are running. -->

  <!-- change the output directory and prefix if this is not where yours is mapped -->
  <arg name="bagfileout" default="/ros/catkin_ws/skynetmini"/>

  <!-- sets the initial position of the lead car. -->
  <param name="/leadcar/x0" type="double" value="40.0" />

  <!-- sets the initial velocity of the ego car. -->
  <param name="/egocar/v0" type="double" value="0.0" />
  <!-- sets the initial position of the ego car. -->
  <param name="/egocar/x0" type="double" value="0.0" />

  <!-- change the start time if needed -->
  <node pkg="rosbag" type="play" name="rosbag_player" args="/ros/catkin_ws/mytest.bag --topics /car/state/vel_x -s 100">
    <!-- remap the output to go into the desired car -->
  <remap from="/car/state/vel_x" to="/leadcar/vel_x" />
  </node>
  
  
  <!-- By putting this car into a namespace, we keep the variables clean -->
  <group ns="leadcar">
  <node pkg="odometer" type="odometer" name="odometer_leadcar">
  </node>
  </group>

  <!-- By putting this car into a namespace, we keep the variables clean -->
  <group ns="egocar">
    <node pkg="carsimplesimulink" type="carsimplesimulink" name="carsimplesimulink_node">
      </node>
    <node pkg="skynetmini_controller2" type="skynetmini_controller2" name="skynetmini_controller2_node">
      <remap from="/cmd_accel" to="/egocar/cmd_accel" />
      <remap from="/lead_dist" to="/egocar/lead_dist" />
      <remap from="/rel_vel" to="/egocar/rel_vel" />
      <remap from="/car/state/vel_x" to="/egocar/vel_x" />
    </node>
  </group>



  <node pkg="subtractor" type="subtractor" name="subtractor_relvel">
    <remap from="in1" to="/leadcar/vel_x" />
  <remap from="in2" to="/egocar/vel_x" />
  <remap from="diff" to="/egocar/rel_vel" />
  </node>

  <node pkg="subtractor" type="subtractor" name="subtractor_odom">
    <remap from="in1" to="/leadcar/odom" />
  <remap from="in2" to="/egocar/odom_x" />
  <remap from="diff" to="/egocar/lead_dist" />
  </node>

  
  <!-- change the output directory if this is not where yours is mapped -->
  <node pkg="rosbag" type="record" name="rosbag_recorder" args="-a -o $(arg bagfileout)" />
  
</launch>