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Feature/carla carma state integration #49

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merged 26 commits into from
Mar 16, 2022
Merged

Feature/carla carma state integration #49

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24 changes: 24 additions & 0 deletions carla-carma-integration/carla-carma-agent/agent/bridge.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -93,4 +93,28 @@
<param name='max_steering_degree' type="double" value="$(arg max_steering_degree)"/>
</node>

<!--
# route #
Set the vehicle route after localization.
-->
<node pkg='carla_carma_bridge' type='carma_carla_route' name='carma_carla_route' output='screen'>
<param name='role_name' type="str" value="$(arg role_name)"/>
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</node>

<!--
# plugins #
Activate all registered plugins.
-->
<node pkg='carla_carma_bridge' type='carma_carla_plugins' name='carma_carla_plugins' output='screen'>
<param name='role_name' type="str" value="$(arg role_name)"/>
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</node>

<!--
# guidance #
Set guidance to active once the plugins have been activated and the route has been selected.
-->
<node pkg='carla_carma_bridge' type='carma_carla_guidance' name='carma_carla_guidance' output='screen'>
<param name='role_name' type="str" value="$(arg role_name)"/>
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</node>

</launch>