Added the action servers back to the rovr_control launch files

GOFIRST-Robotics · Aug 22, 2024 · d1824e6 · d1824e6
1 parent c292104
commit d1824e6
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diff --git a/src/rovr_control/launch/main_launch.py b/src/rovr_control/launch/main_launch.py
@@ -58,12 +58,32 @@ def generate_launch_description():
         name="ros2socketcan",
     )
 
+    # Add our autonomous action servers here
+    calibrate_field_coordinate_server = Node(
+        package="rovr_control",
+        executable="calibrate_field_coordinate_server",
+        name="calibrate_field_coordinate_server",
+    )
+    auto_dig_server = Node(
+        package="rovr_control",
+        executable="auto_dig_server",
+        name="auto_dig_server",
+    )
+    auto_offload_server = Node(
+        package="rovr_control",
+        executable="auto_offload_server",
+        name="auto_offload_server",
+    )
+
     ld.add_action(rovr_control)
     ld.add_action(motor_control)
     ld.add_action(joystick_node)
     ld.add_action(drivetrain)
     ld.add_action(skimmer)
     ld.add_action(read_serial)
     ld.add_action(can_bus)
+    ld.add_action(calibrate_field_coordinate_server)
+    ld.add_action(auto_dig_server)
+    ld.add_action(auto_offload_server)
 
     return ld
diff --git a/src/rovr_control/launch/main_no_joysticks_launch.py b/src/rovr_control/launch/main_no_joysticks_launch.py
@@ -52,11 +52,31 @@ def generate_launch_description():
         name="ros2socketcan",
     )
 
+    # Add our autonomous action servers here
+    calibrate_field_coordinate_server = Node(
+        package="rovr_control",
+        executable="calibrate_field_coordinate_server",
+        name="calibrate_field_coordinate_server",
+    )
+    auto_dig_server = Node(
+        package="rovr_control",
+        executable="auto_dig_server",
+        name="auto_dig_server",
+    )
+    auto_offload_server = Node(
+        package="rovr_control",
+        executable="auto_offload_server",
+        name="auto_offload_server",
+    )
+
     ld.add_action(rovr_control)
     ld.add_action(motor_control)
     ld.add_action(drivetrain)
     ld.add_action(skimmer)
     ld.add_action(read_serial)
     ld.add_action(can_bus)
+    ld.add_action(calibrate_field_coordinate_server)
+    ld.add_action(auto_dig_server)
+    ld.add_action(auto_offload_server)
 
     return ld