Final Event

Modify the Setup

For the demonstration of the final project in our lab, we need you to remove both the scenario_node and the robot_marker_publisher from your launch setup. We will run these nodes on another machine.

Attention

Not removing these nodes from your launch setup will cause node/topic collisions.

Remove this code block from final_project/launch/final_project.launch.py

final_project/launch/final_project.launch.py
74Node(
75    executable='scenario_node',
76    package='fav',
77    parameters=[
78        {
79            'scenario': LaunchConfiguration('scenario'),
80            'use_sim_time': LaunchConfiguration('use_sim_time'),
81        },
82    ],
83),
84Node(
85    executable='robot_marker_publisher',
86    package='fav',
87    parameters=[
88        {
89            'use_sim_time': LaunchConfiguration('use_sim_time'),
90        },
91    ],
92),

Since we will show the rviz visualization as well, you might consider removing the rviz node as well for performance reasons. But that is up to your personal preferences.

final_project/launch/final_project.launch.py
 95rviz_file = str(
 96   get_package_share_path('final_project') / 'config/rviz.rviz')
 97
 98action = Node(
 99   executable='rviz2',
100   package='rviz2',
101   name='rviz2',
102   arguments=['-d', rviz_file, '--ros-args', '--log-level', 'error'],
103)
104launch_description.add_action(action)

Run the Code

Also keep in mind that we need to adapt the launch command to run the setup slightly, because we do not need sim time for the lab. We do not need to specify a scenario either.

$ ros2 launch final_project final_project.launch.py vehicle_name:=bluerov01 use_sim_time:=false