From 1d8bac9f7c44266fb2e6f75df22d1b034c6be775 Mon Sep 17 00:00:00 2001
From: James Pace <jpace121@gmail.com>
Date: Sat, 13 Jun 2026 13:34:49 -0400
Subject: [PATCH] Refactor launch files. Fake diagnostics.

---
 launch/am_i_up.launch.xml         |  8 ++------
 launch/data_simulators.launch.xml | 22 ++++++++++++++++++++++
 params/diag_agg.yaml              |  7 +++++++
 3 files changed, 31 insertions(+), 6 deletions(-)
 create mode 100644 launch/data_simulators.launch.xml
 create mode 100644 params/diag_agg.yaml

diff --git a/launch/am_i_up.launch.xml b/launch/am_i_up.launch.xml
index 3e88ca3..7cd521d 100644
--- a/launch/am_i_up.launch.xml
+++ b/launch/am_i_up.launch.xml
@@ -3,14 +3,10 @@
     <param from="$(find-pkg-share am_i_up)/params/am_i_up.yaml"/>
   </node>
 
-  <node pkg="data_simulator" exec="image_publisher" name="image_publisher" />
-  <node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
-    <env name="GST_DEBUG" value="3"/>
-    <param from="$(find-pkg-share am_i_up)/params/image2rtsp.yaml"/>
-  </node>
   <include file="$(find-pkg-share media_mtx_wrapper)/launch/mediamtx.launch.xml">
     <arg name="config_file_path" value="$(find-pkg-share am_i_up)/params/mediamtx.yaml" />
   </include>
 
-  <node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
+  <include file="$(find-pkg-share am_i_up)/launch/data_simulators.launch.xml" />
+
 </launch>
diff --git a/launch/data_simulators.launch.xml b/launch/data_simulators.launch.xml
new file mode 100644
index 0000000..a513d70
--- /dev/null
+++ b/launch/data_simulators.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+  <!-- Images -->
+  <node pkg="data_simulator" exec="image_publisher" name="image_publisher" />
+  <node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
+    <env name="GST_DEBUG" value=""/> <!-- Setting to 3 can help if its not working -->
+    <param from="$(find-pkg-share am_i_up)/params/image2rtsp.yaml"/>
+  </node>
+
+  <!-- Vehicle Position -->
+  <node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
+
+  <!-- Diagnostics -->
+  <node pkg="data_simulator" exec="diagnostic_publisher" name="diagnostic_1">
+    <param name="diag_level" value="OK"/>
+    <param name="node_name"  value="node_1"/>
+  </node>
+
+  <!-- Aggregator -->
+  <node pkg="diagnostic_aggregator" exec="aggregator_node">
+    <param from="$(find-pkg-share am_i_up)/params/diag_agg.yaml"/>
+  </node>
+</launch>
diff --git a/params/diag_agg.yaml b/params/diag_agg.yaml
new file mode 100644
index 0000000..4d98729
--- /dev/null
+++ b/params/diag_agg.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    analyzers:
+      all:
+        type: 'diagnostic_aggregator/GenericAnalyzer'
+        path: 'Agg'
+        regex: ['.*']
\ No newline at end of file