Setup Launch YAML File - VerifiableRobotics/LTL_stack GitHub Wiki

By writing a setup launch YAML file (e.g.: setup_launch_simple.yaml), you can automatically generate all the necessary launch files to start running an example. Here is an example YAML file

For the fields in the file:

• slugsin_file : directory+filename of a LTL slugs file.
• region_file : directory+filename of a LTLMoP region file (only the JSON part). Put None if there is no region file.
• destination_folder: directory to save all the launch files generated.
• example_name : name of your example
• yaml_file : YAML file directory+filename that defines ROS files corresponding to each proposition. See
• LTLMoP_src_dir : directory to LTLMoP (Not needed if you are not using region files. Put an empty string '' there.)
• controller_executor_dir : directory to the controller_executor folder in LTL_stack
• init_region : if there is a region file above, then you can specify the region that the robot starts in here. This entry is ignored if there is no region file.
• rot : rotation of the region coordinates. This entry is ignored if there is no region file.
• scale : scaling of the region coordinates. This entry is ignored if there is no region file.
• x_trans : x translation of the region coordinates. This entry is ignored if there is no region file.
• y_trans : y translation of the region coordinates. This entry is ignored if there is no region file.