test_map_free_fleet.launch.xml

<?xml version='1.0' ?>

<launch>
  <arg name="use_sim_time" default="false"/>
  <arg name="failover_mode" default="false"/>

  <!-- Common launch -->
  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
    <arg name="use_sim_time" value="$(var use_sim_time)"/>
    <arg name="viz_config_file" value ="$(find-pkg-share test_map)/config/test_map.rviz"/>
    <arg name="config_file" value="$(find-pkg-share test_map)/maps/map_test/map_test.building.yaml"/>
    <arg name="dashboard_config_file" value="$(find-pkg-share test_map)/config/dashboard_test_map_config.json"/>
  </include>

  <!-- fleet adapter and robot state aggregator -->
  <group>
    <let name="fleet_name" value="lightrover"/>
    <include file="/home/fsi/rmf_ws/src/test_map/config/lightrover_adapter.launch.xml">
      <arg name="fleet_name" value="$(var fleet_name)"/>
      <arg name="use_sim_time" value="$(var use_sim_time)"/>
      <arg name="nav_graph_file" value="$(find-pkg-share test_map)/maps/map_test/nav_graphs/1.yaml" />
    </include>
    <include file="$(find-pkg-share rmf_fleet_adapter)/robot_state_aggregator.launch.xml">
      <arg name="robot_prefix" value="lightrover1"/>
      <arg name="fleet_name" value="$(var fleet_name)"/>
      <arg name="use_sim_time" value="$(var use_sim_time)"/>
      <arg name="failover_mode" value="$(var failover_mode)"/>
    </include>
  </group>

  <!-- add free fleet sever -->
  <include file="$(find-pkg-share test_map)/launch/test_map_ff_server.launch.xml"/>


 <!--  <arg name="model" default="$(env TURTLEBOT3_MODEL)"/>   
  <arg name="map_file" default="$(find-pkg-share test_map)/maps/map_test.yaml"/>
  <arg name="param_dir" default="$(find-pkg-share test_map)/param"/>   -->
 
 
  <!-- launch first nav2 and freefleet client -->
<!--   <include file="$(find-pkg-share turtlebot3_navigation2)/launch/navigation2.launch.py">
    <arg name="map" value="$(var map_file)"/>
    <arg name="params_file" value="$(var param_dir)/turtlebot3_$(var model)_rmf.yaml"/>
    <arg name="use_sim_time" value="$(var use_sim_time)"/>
  </include>
  <group if="$(var use_sim_time)">
    <include file="$(find-pkg-share turtlebot3_gazebo)/launch/robot_state_publisher.launch.py">
      <arg name="use_sim_time" value="$(var use_sim_time)"/>
    </include>
  </group>

  <node name="turtlebot3_free_fleet_client_node" pkg="free_fleet_client_ros2"
      exec="free_fleet_client_ros2" output="both">
    <param name="fleet_name" value="turtlebot3"/>
    <param name="robot_name" value="turtlebot3_burger"/>
    <param name="robot_model" value="turtlebot3_burger"/>
    <param name="level_name" value="L1"/>
    <param name="dds_domain" value="42"/>
    <param name="battery_state_topic" value="/battery_state"/>
    <param name="max_dist_to_first_waypoint" value="10.0"/>
    <param name="map_frame" value="map"/>
    <param name="robot_frame" value="base_footprint"/>
    <param name="nav2_server_name" value="/navigate_to_pose"/>
    <param name="use_sim_time" value="$(var use_sim_time)"/>
    <param name="update_frequency" value="10.0"/>
    <param name="publish_frequency" value="1.0"/>
  </node>   -->



<!--  <group if="$(var use_sim_time)">
    <executable cmd='ros2 topic pub /battery_state sensor_msgs/BatteryState "{percentage: 1.0}"'  />
  </group>

  <node name="pickup_node" pkg="test_map_script" exec="dispenser_node" output="both"/>
  <node name="ingestor_a_node" pkg="test_map_script" exec="goal_a_ingestor_node" output="both"/>   -->

</launch>