From 1f74f93c801c2c92f09a00ac30359e46284ae159 Mon Sep 17 00:00:00 2001
From: CamilV <crv1g16@soton.ac.uk>
Date: Sat, 2 Jun 2018 19:56:23 +0100
Subject: [PATCH] model launch file added

---
 .../launch/model_launch_file.launch           | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 src/sailing_robot/launch/model_launch_file.launch

diff --git a/src/sailing_robot/launch/model_launch_file.launch b/src/sailing_robot/launch/model_launch_file.launch
new file mode 100644
index 00000000..b0b95f2a
--- /dev/null
+++ b/src/sailing_robot/launch/model_launch_file.launch
@@ -0,0 +1,53 @@
+<launch>
+    <!--
+    **Test description and date
+    -->
+
+    <!--
+    Parameters
+    -->
+
+    <rosparam file="$(find sailing_robot)/launch/parameters/default.yaml" command="load"/>
+
+    <rosparam file="$(find sailing_robot)/launch/parameters/calibration_blackpython.yaml" ns="/calibration" command="load"/>
+    <rosparam file="$(find sailing_robot)/launch/parameters/sailsettings_blackpython.yaml" command="load"/>
+    <rosparam file="$(find sailing_robot)/launch/parameters/servos_blackpython.yaml" command="load"/>
+
+    <rosparam file="$(find sailing_robot)/launch/parameters/waypoints file" command="load"/>  **Add waypoints file(can be found in the parameters directory, sailingClub_waypoints.yaml)
+    
+    <arg name="log_name" value="location_tests" />         **Add log name(sailingclub_tests, eastleigh_tests)
+    <param name="log_name" value="$(arg log_name)" />
+
+    <!--
+    Nodes
+    -->
+    <include file="$(find xsens_driver)/launch/xsens_driver.launch" />
+    <node name = "sensor_service_imu" pkg="sailing_robot" type="sensor_service_imu" respawn="true"/>
+    <node name = "sensor_driver_gps" pkg='sailing_robot' type="sensor_driver_gps" respawn="true"/>
+    <node name = "sensor_driver_imu" pkg="sailing_robot" type="sensor_driver_imu"  respawn="true"/>
+    <node name = "sensor_driver_wind_direction" pkg="sailing_robot" type="sensor_driver_wind_direction"  respawn="true"/>
+    <node name = "sensor_driver_multiplexer" pkg="sailing_robot" type="sensor_driver_multiplexer" respawn="true"/>
+    <node name = "sensor_processed_wind_direction" pkg="sailing_robot" type="sensor_processed_wind_direction"/>
+    <node name = "sensor_driver_battery" pkg="sailing_robot" type="sensor_driver_battery"/>
+
+    <node name = "tasks" pkg="sailing_robot" type = "tasks"  respawn="true"/>
+    <node name = "helming" pkg="sailing_robot" type="helming" respawn="true" />
+
+    <!--    <node name = "tack" pkg="sailing_robot" type = "tack"  respawn="true"/>
+    <node name = "actuator_demand_sail" pkg="sailing_robot" type = "actuator_demand_sail" respawn="true"/>
+    <node name = "actuator_demand_rudder" pkg="sailing_robot" type = "actuator_demand_rudder" respawn="true"/>-->
+
+    <node name = "actuator_driver_sail" pkg="sailing_robot" type = "actuator_driver_sail" respawn="true"/>
+    <node name = "actuator_driver_rudder" pkg="sailing_robot" type="actuator_driver_rudder"  respawn="true"/>
+
+    <node name="debugging_dump_params" pkg='sailing_robot' type="debugging_dump_params"/>
+
+    <!-- Rosbag records messages for later investigation -->
+    <node name="record" pkg="rosbag" type="record" args="-a -o /home/pi/sailing-robot/$(arg log_name)"/>
+
+    <!-- Also record GPS data as required by the competition -->
+    <node name="debugging_gps_log" pkg='sailing_robot' type="debugging_gps_log" respawn="true"/>
+
+    <!-- Serve an HTML dashboard so we can see what's going on -->
+    <node name = "debugging_dashboard" pkg="sailing_robot" type = "debugging_dashboard" />
+ </launch>