From 5b97a20c92e4006194b162624ebd6debc757986f Mon Sep 17 00:00:00 2001
From: PatXue <95881915+PatXue@users.noreply.github.com>
Date: Sun, 18 Feb 2024 23:02:13 -0500
Subject: [PATCH] Add distance args to 2buggy launch file

---
 rb_ws/src/buggy/launch/sim_2d_2buggies.launch | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch b/rb_ws/src/buggy/launch/sim_2d_2buggies.launch
index 2cda83d1..f71fd2f9 100755
--- a/rb_ws/src/buggy/launch/sim_2d_2buggies.launch
+++ b/rb_ws/src/buggy/launch/sim_2d_2buggies.launch
@@ -1,12 +1,12 @@
 <launch>
-    <arg name="sc_starting_pose"    default="Hill1_SC" />
+    <arg name="sc_start_dist"       default="0.0" />
     <arg name="sc_velocity"         default="15.0" />
 
     <arg name="nand_controller"     default="stanley" />
     <arg name="nand_path"           default="buggycourse_safe_1.json" />
-
-    <arg name="nand_starting_pose"  default="Hill1_NAND" />
+    <arg name="nand_start_dist"     default="36.0" />
     <arg name="nand_velocity"       default="10.0" />
+
     <arg name="manual_vel"          default="true" />
     <arg name="auto_vel"            default="false" />
 
@@ -30,17 +30,17 @@
 
 
     <node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
-        args="$(arg nand_starting_pose) $(arg nand_velocity) NAND"/>
+        args="$(arg nand_start_dist) $(arg nand_velocity) NAND"/>
 
     <!-- NAND is not aware of SC -->
-    <arg name="nand_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name NAND" />
+    <arg name="nand_autonsystem_args" default="--controller stanley --dist $(arg nand_start_dist) --traj buggycourse_safe_1.json --self_name NAND" />
     <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
         args="$(arg nand_autonsystem_args)"/>
 
     <node name="sc_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
-        args="$(arg sc_starting_pose) $(arg sc_velocity) SC"/>
+        args="$(arg sc_start_dist) $(arg sc_velocity) SC"/>
 
-    <arg name="sc_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC --other_name NAND" />
+    <arg name="sc_autonsystem_args" default="--controller stanley --dist $(arg sc_start_dist) --traj buggycourse_safe_1.json --self_name SC --other_name NAND" />
     <node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen"
         args="$(arg sc_autonsystem_args)"/>