launchfile for simulation added

Author: KevinVegaTec

CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake

CMakeLists.txt

@@ -57,14 +57,15 @@
   </group>
   ?>
   <!-- Begin Torpedo1-->
+   <?ignore
   <group ns="Torpedo1">
     <param name="tf_prefix" value="robot3_tf" />
     <param name="robot_description"
           command="$(find xacro)/xacro --inorder '$(find uv_worlds)/urdf/torpedos1.xacro' "/> 
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
           args="-urdf -param robot_description -model torpedos_1"/>
   </group>
-
+?>
   <!-- Begin Pathmarker1 -->
 
   <group ns="Pathmarker1">

uv_worlds/launch/task_obstacles.launch

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+   <include file="$(find uv_worlds)/launch/lake_challenges.launch"/>
+   
+   <arg name="node_start_delay" value="5.0" />
+
+   <include file="$(find vehicle_descriptions)/launch/vtec_u3.launch"/>
+   
+   <arg name="node_start_delay_2" default="1.0" /> 
+
+   <include file="$(find uv_worlds)/launch/task_obstacles.launch"/>
+   
+   <arg name="node_start_delay_3" default="1.0" /> 
+
+   <include file="$(find vanttec_uuv)/launch/uuv_simulation.launch"/>
+
+   <arg name="node_start_delay_4" default="10.0" /> 
+   
+   <node pkg="vehicle_descriptions" type="gazebo_interface" name="gazebo_interface"/>   
+
+   <node pkg="vanttec_uuv" type="object_detector_node" name="object_detector_node"/>   
+
+   </launch>