Launch Files

These are .launch files that can be run using roslaunch:

roslaunch rktl_launch <launch file>

c3po.launch 

This launch file includes two instances of the camera.launch file from the rktl_perception package with different values for the camera_name argument. This is the launch file that will be run on the computer named “c3po” on the Rocket League cart.

Launch Arguments 

This launch file does not define any arguments of its own.

Nodes 

This launch file does not define any nodes of its own.

Included Launch Files 

rktl_perception camera.launch (Included twice, once with camera_name set to cam0 and once with camera_name set to cam1)

r2d2.launch 

This launch file includes two instances of the camera.launch file from the rktl_perception package with different values for the camera_name argument, launches a node from the rktl_control package, and includes the rocket_league.launch file from the rktl_launch package. This is the launch file that will be run on the computer named “r2d2” on the Rocket League cart.

Nodes 

rktl_control pose_sync_node (parameters are loaded from rktl_control/config/pose_synchronizer.yaml)

Included Launch Files 

rktl_perception camera.launch (Included twice, once with camera_name set to cam2 and once with camera_name set to cam3)
rktl_launch rocket_league.launch

rocket_league.launch 

This roslaunch file launches everything that is needed to run the system using actual hardware. It can be run with different types of agents and includes launch files for the game manager, control GUI, ball, cars, and agents based on the selected agent type.

Launch Arguments 

render (default: true): A boolean argument that determines whether to enable the visualizer or not.
agent_type (default: patrol): A string argument that specifies the type of agent to use. Valid options are planner, autonomy, or patrol.
autonomy_weights (default: model): A string argument that specifies the name of the autonomy weights file to use. This argument is only used if agent_type is set to 'autonomy'.

Nodes 

rqt_gui: rqt_gui node from the rqt_gui package

Included Launch Files 

rktl_sim visualizer.launch (Only included if render is set to true)
rktl_game game.launch
rktl_control ball.launch
rktl_control car.launch
rktl_control hardware_interface.launch
rktl_planner simple_agent.launch (Only included if agent_type is set to 'planner')
rktl_autonomy rocket_league_agent.launch: (Only included if agent_type is set to 'autonomy')
rktl_planner patrol_agent.launch: (Only included if agent_type is set to 'patrol')

rocket_league_sim.launch 

This roslaunch file launches a simulation of the environment. It includes a visualizer, a simulator, simulated perception delays, and control/filtering stacks for the ball and cars. It also includes agents for controlling the cars, with options for a planner, an autonomy (ML) agent, or a patrol agent.

Parameters 

This launch file loads parametes from the config/global_params.yaml file in the rktl_launch package.

Launch Arguments 

render (default: true) - whether to launch the visualizer or not.
sim_mode (default: realistic) - the simulation mode to use, either realistic or ideal.
perception_delay (default: 0.15) - the delay time to use for perception in the simulation.
agent_type (default: patrol) - the type of agent to use for controlling the car, either planner, autonomy, or patrol.
autonomy_weights (default: model) - the weights to use for the autonomy agent if agent_type is set to autonomy.

Nodes 

pose_sync_node: A pose_sync_node node from the rktl_control package
ball/pose_delay: A topic_delay node from the rktl_control package. Uses the perception_delay argument. Only run if sim_mode is set to 'realistic'.
cars/car0/pose_delay: A topic_delay node from the rktl_control package. Uses the perception_delay argument. Only run if sim_mode is set to 'realistic'.

Included Launch Files 

rktl_sim visualizer.launch (Only included if render is set to true)
rktl_sim simulator.launch (Passes the sim_mode argument)
rktl_control ball.launch
rktl_control car.launch
rktl_planner simple_agent.launch (Only included if agent_type is set to 'planner')
rktl_autonomy rocket_league_agent.launch: (Only included if agent_type is set to 'autonomy')
rktl_planner patrol_agent.launch: (Only included if agent_type is set to 'patrol')