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| <?xml version="1.0" encoding="utf-8" ?> | ||
| <launch> | ||
| <arg name="sim" default="false" /> | ||
| <arg name="sim" default="false" description="Whether the robot is running in simulation or on real hardware" /> | ||
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| <node pkg="game_controller_hl" exec="game_controller" name="game_controller_hl" output="screen"> | ||
| <arg name="team_id" default="1" description="The team id of the team the robot is playing in (not used if use_parameter_blackboard is true)" /> | ||
| <arg name="bot_id" default="1" description="The id of the robot in the team (not used if use_parameter_blackboard is true)" /> | ||
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| <arg name="use_parameter_blackboard" default="false" description="Whether the parameter blackboard should be used to get the team and bot id dynamically" /> | ||
| <arg name="parameter_blackboard_name" default="parameter_blackboard" description="The name of the parameter blackboard when it is used (see use_parameter_blackboard)" /> | ||
| <arg name="team_id_param_name" default="team_id" description="The name of the parameter for the team id on the parameter blackboard when it is used (see use_parameter_blackboard)" /> | ||
| <arg name="bot_id_param_name" default="bot_id" description="The name of the parameter for the bot id on the parameter blackboard when it is used (see use_parameter_blackboard)" /> | ||
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| <!-- launch the game controller client without a parameter blackboard --> | ||
| <node pkg="game_controller_hl" exec="game_controller" name="game_controller_hl" output="screen" unless="$(var use_parameter_blackboard)"> | ||
| <param from="$(find-pkg-share game_controller_hl)/config/game_controller_settings.yaml" /> | ||
| <param name="use_sim_time" value="$(var sim)" /> | ||
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| <param name="team_id" value="$(var team_id)" /> | ||
| <param name="bot_id" value="$(var bot_id)" /> | ||
| </node> | ||
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| <!-- or --> | ||
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| <!-- launch the game controller client with a parameter blackboard --> | ||
| <node pkg="game_controller_hl" exec="game_controller" name="game_controller_hl" output="screen" if="$(var use_parameter_blackboard)"> | ||
| <param from="$(find-pkg-share game_controller_hl)/config/game_controller_settings.yaml" /> | ||
| <param name="use_sim_time" value="$(var sim)" /> | ||
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| <param name="parameter_blackboard_name" value="$(var parameter_blackboard_name)" /> | ||
| <param name="team_id_param_name" value="$(var team_id_param_name)" /> | ||
| <param name="bot_id_param_name" value="$(var bot_id_param_name)" /> | ||
| </node> | ||
| </launch> |