From 90ce72e1815bcf0e1ebaac08ee89bc94f625959e Mon Sep 17 00:00:00 2001
From: Florian Zirker <florian.zirker@kapsweyer.de>
Date: Mon, 3 Dec 2018 16:36:57 +0100
Subject: [PATCH 1/2] copied master launch file from p2os_launch into own
 project

---
 launch/pioneerMasterLaunchFile.launch | 53 +++++++++++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 launch/pioneerMasterLaunchFile.launch

diff --git a/launch/pioneerMasterLaunchFile.launch b/launch/pioneerMasterLaunchFile.launch
new file mode 100644
index 0000000..17a65dd
--- /dev/null
+++ b/launch/pioneerMasterLaunchFile.launch
@@ -0,0 +1,53 @@
+<launch>
+	<!-- Defining the arguments -->
+	<arg name="HokuyoLaser" value="0"/>
+	<arg name="SICKLMSLaser" value="1"/>
+	<arg name="P2OS_Driver" value="1"/>
+	<arg name="KeyboardTeleop" value="0"/>
+	<arg name="JoystickTeleop" value="1"/>
+	<arg name="Transform" value="1"/>
+	<arg name="Dashboard" value="0"/>
+	<arg name="enableMotor" value="1"/>
+
+    <group if="$(arg enableMotor)" >
+        <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
+    </group>
+
+    <!-- Start the p2os ROS Driver -->
+	<group if="$(arg P2OS_Driver)" >
+	    <node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/>
+	</group>
+	
+	<!-- Start the Dashboard -->
+	<group if="$(arg Dashboard)">
+        <node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/>
+	</group>
+	
+    <!-- Start the teleoperation node for keyboard control -->
+    <group if="$(arg KeyboardTeleop)">
+        <include file="$(find p2os_launch)/launch/teleop_keyboard.launch" />
+    </group>
+
+	 <!-- Start the teleoperation node for joystick control -->
+    <group if="$(arg JoystickTeleop)">
+        <include file="$(find p2os_launch)/launch/teleop_joy.launch" /> 
+    </group>
+
+    <!-- Publish the required transform -->
+    <group if="$(arg Transform)">
+        <include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" />          
+    </group>
+
+    <!-- Start the Hokuyo Laser node if Hokuyo Laser is used -->
+    <group if="$(arg HokuyoLaser)">
+        <include file="$(find p2os_launch)/launch/hokuyo.launch" /> 
+    </group>
+
+    <!-- Start the SICK LMS Laser Node if a SICK Laser is used -->
+    <group if="$(arg SICKLMSLaser)">
+        <include file="$(find p2os_launch)/launch/sicklms.launch" /> 
+    </group>
+
+    <include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
+</launch>
+

From c7f0cd55a7df82045ab93b4b72417d28d4ea7cd4 Mon Sep 17 00:00:00 2001
From: Florian Zirker <florian.zirker@kapsweyer.de>
Date: Mon, 3 Dec 2018 18:44:09 +0100
Subject: [PATCH 2/2] modified launch file

---
 launch/pioneerMasterLaunchFile.launch | 38 +++++++++++++++++++++------
 1 file changed, 30 insertions(+), 8 deletions(-)

diff --git a/launch/pioneerMasterLaunchFile.launch b/launch/pioneerMasterLaunchFile.launch
index 17a65dd..2d44100 100644
--- a/launch/pioneerMasterLaunchFile.launch
+++ b/launch/pioneerMasterLaunchFile.launch
@@ -1,14 +1,25 @@
 <launch>
 	<!-- Defining the arguments -->
-	<arg name="HokuyoLaser" value="0"/>
-	<arg name="SICKLMSLaser" value="1"/>
-	<arg name="P2OS_Driver" value="1"/>
-	<arg name="KeyboardTeleop" value="0"/>
-	<arg name="JoystickTeleop" value="1"/>
-	<arg name="Transform" value="1"/>
-	<arg name="Dashboard" value="0"/>
-	<arg name="enableMotor" value="1"/>
+	<arg name="HokuyoLaser" value="0" />
+	<arg name="SICKLMSLaser" value="1" />
+	<arg name="P2OS_Driver" value="1" />
+	<arg name="KeyboardTeleop" value="0" />
+	<arg name="JoystickTeleop" value="1" />
+	<arg name="Transform" value="1" />
+	<arg name="Dashboard" value="0" />
+	<arg name="enableMotor" value="1" />
+    <arg name="enableWlanScan" value="1" />
+    <arg name="enableGmapping" value="1" />
+    <arg name="enableBagging" value="1" />
 
+    <!-- Set wifi interface and start wlan logging -->
+    <group if="$(arg enableWlanScan)" >
+        <param name="wlan_interface_24G" type="string" value="wlx801f02c608aa" />
+        <param name="wlan_interface_5G"  type="string" value="wlx801f02c608aa" />
+        <node pkg="wlan_pioneer" name="wlanSignal" type="wlanSignal" />
+    </group>
+
+    <!-- Enable the motor with rostopic pub -->
     <group if="$(arg enableMotor)" >
         <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
     </group>
@@ -49,5 +60,16 @@
     </group>
 
     <include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
+
+
+    <group if="$(arg enableGmapping)" >
+        <include file="$(find p2os_launch)/launch/gmapping.launch" /> 
+    </group>
+
+    <group if="$(arg enableBagging)" >
+        <node pkg="rosbag" type="record" name="rosbag_record_wlan" 
+        args="record -o /tmp/wlan_pioneer /pose /sonar /scan /slam_gmapping/entropy /tf /base_scan /wlan_signal" />     
+    </group>
+
 </launch>