ros1_jackalsimulator.launch

<?xml version="1.0"?>

<launch>

  <arg name="gui" default="false" />
  <arg name="project_name" default="" />
  
  <!-- <arg name="roadmap_map" value="maps/straight.xml"/> -->
  <arg name="roadmap_map" value="maps/open_space/24.xml"/>

  <!-- <arg name="pedestrian_scenario" default="random_social/12_corridor.xml" /> -->
  <arg name="pedestrian_scenario" default="open_space/24.xml" />

  <rosparam command="load" file="$(find mpc_planner_jackalsimulator)/config/guidance_planner.yaml"/>
  <!-- <rosparam command="load" file="$(find scenario_module)/config/params.yaml"/> -->
  <node pkg="mpc_planner_jackalsimulator" type="jackalsimulator_planner" name="jackalsimulator_planner" required="true" respawn="false" output="screen">
        <remap from="/input/state_pose" to="robot_state"/>
        <remap from="/input/goal" to="/move_base_simple/goal"/>
        <remap from="/input/reference_path" to="roadmap/reference"/>
        <remap from="/input/obstacles" to="/pedestrian_simulator/trajectory_predictions"/>
        <remap from="/output/command" to="/cmd_vel"/>
        <remap from="/output/pose" to="/pedestrian_simulator/robot_state"/>
        <remap from="/feedback/collisions" to="/pedestrian_simulator/collision_detected"/>
  </node>

  <include file="$(find pedestrian_simulator)/launch/ros1_simulation.launch">
    <arg name="pedestrian_scenario" value="$(arg pedestrian_scenario)"/>
    <!-- <arg name="static" value="false"/> -->
  </include>

  <node pkg="pedestrian_simulator" type="collision_checker_node" name="collision_checker_node" output="screen"/>

  <include file="$(find jackal_gazebo)/launch/jackal_world.launch">
    <!-- <arg name="world_name" value="$(find jackal_gazebo)/worlds/jackal_race.world" /> -->
    <arg name="gui" value="$(arg gui)" />
  </include>

  <include file="$(find mobile_robot_state_publisher)/launch/mobile_robot_publisher.launch"/>

  <include file="$(find roadmap)/launch/roadmap.launch">
    <arg name="map_file_name" value="$(arg roadmap_map)"/>
  </include>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mpc_planner_jackalsimulator)/rviz/ros1.rviz" output="screen"/>
  <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mpc_planner_jackalsimulator)/rviz/ros1_3d.rviz" output="screen"/> -->

  <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" output="log"/>

</launch>