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Refactor launch files. Fake diagnostics.

This commit is contained in:
James Pace 2026-06-13 13:34:49 -04:00
parent a5f2c9952f
commit 1d8bac9f7c
3 changed files with 31 additions and 6 deletions
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8
launch/am_i_up.launch.xml
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@ -3,14 +3,10 @@
<param from="$(find-pkg-share am_i_up)/params/am_i_up.yaml"/> <param from="$(find-pkg-share am_i_up)/params/am_i_up.yaml"/>
</node> </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"> <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" /> <arg name="config_file_path" value="$(find-pkg-share am_i_up)/params/mediamtx.yaml" />
</include> </include>
<node pkg="data_simulator" exec="position_publisher" name="position_publisher" /> <include file="$(find-pkg-share am_i_up)/launch/data_simulators.launch.xml" />
</launch> </launch>

22
launch/data_simulators.launch.xml Normal file
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@ -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>

7
params/diag_agg.yaml Normal file
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@ -0,0 +1,7 @@
/**:
ros__parameters:
analyzers:
all:
type: 'diagnostic_aggregator/GenericAnalyzer'
path: 'Agg'
regex: ['.*']