Launch Files

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

roslaunch rktl_planner <launch file>

---

patrol_agent.launch

This launches a patrol_planner node with parameters supplied by rktl_planner/config/patrol_planner.yaml.

Launch Arguments

• car_name (default: car0): Name of the car to launch the agent for.

Nodes

• cars/{car_name}/patrol_planner: patrol_planner node from the rktl_planner package. Parameters supplied by rktl_planner/config/patrol_planner.yaml.

---

simple_agent.launch

This launches nodes to generate and follow paths using bezier curve-based methods. It loads parameters from rktl_planner/config/path_follower.yaml and rktl_planner/config/path_planner.yaml.

Launch Arguments

• agent_name (default: agent0): Name of the agent to run.

• car_name (default: car0): Name of the car to launch the agent for.

Nodes

• agents/{agent_name}/path_follower: path_follower node from the rktl_planner package. Parameters supplied by rktl_planner/config/path_follower.yaml.

• agents/{agent_name}/bezier_path_server: bezier_path_server node from the rktl_planner package.

• agents/{agent_name}/path_planner: path_planner node from the rktl_planner package. Parameters supplied by rktl_planner/config/path_planner.yaml.

---