cubs2_bringup
=============

System-level launch files and configuration for Cubs2. This package orchestrates all components for complete simulation, visualization, and planning.

Launch Files
------------

sim.xml
^^^^^^^

Complete aircraft simulation with autonomous flight.

**Arguments:**

* ``enable_sim`` (default: true) - Run live simulation
* ``enable_replay`` (default: false) - Show recorded flight data
* ``show_forces`` (default: true) - Visualize forces/moments
* ``rate`` (default: 1.0) - Simulation speed multiplier
* ``gate_sequence`` (default: [0,1,2,4,3,...]) - Waypoint order
* ``bag_path`` (default: cubs2_data rosbag) - Path to replay data

**Nodes Started:**

* Simulation node (``cubs2_simulation``)
* Dubins path planner (``cubs2_planning``)
* Robot state publisher (``cubs2_description``)
* Racecourse markers (``racecourse_description``)

**Usage:**

.. code-block:: bash

   # Standard simulation
   ros2 launch cubs2_bringup sim.xml

   # 2x speed with replay comparison
   ros2 launch cubs2_bringup sim.xml rate:=2.0 enable_replay:=true

   # Custom gate sequence
   ros2 launch cubs2_bringup sim.xml gate_sequence:="[0,1,2,3,4]"

viz.xml
^^^^^^^

RViz2 visualization with custom panels.

**Nodes Started:**

* RViz2 with pre-configured layout
* All visualization plugins loaded (Joy, Sim, HUD, Video panels)

**Usage:**

.. code-block:: bash

   ros2 launch cubs2_bringup viz.xml

gamepad_control.xml
^^^^^^^^^^^^^^^^^^^

Manual control via gamepad/joystick.

**Arguments:**

* ``device`` (default: /dev/input/js0) - Joystick device path

**Nodes Started:**

* Joy node (sensor_msgs/Joy publisher)
* Gamepad control translator (``cubs2_simulation``)

**Usage:**

.. code-block:: bash

   ros2 launch cubs2_bringup gamepad_control.xml

keyboard_control.xml
^^^^^^^^^^^^^^^^^^^^

Manual control via keyboard.

**Nodes Started:**

* Keyboard control node

**Usage:**

.. code-block:: bash

   ros2 launch cubs2_bringup keyboard_control.xml

planning.xml
^^^^^^^^^^^^

Standalone path planner (no simulation).

**Arguments:**

* ``gate_sequence`` (default: [0,1,2,...]) - Waypoint order

**Usage:**

.. code-block:: bash

   ros2 launch cubs2_bringup planning.xml gate_sequence:="[0,2,4,6]"

Complete Workflow
-----------------

Standard Simulation
^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

   # Terminal 1: Launch simulation
   ros2 launch cubs2_bringup sim.xml

   # Terminal 2: Launch visualization
   ros2 launch cubs2_bringup viz.xml

Manual Control
^^^^^^^^^^^^^^

.. code-block:: bash

   # Terminal 1: Simulation only (no autonomous planner)
   ros2 run cubs2_simulation sim

   # Terminal 2: Gamepad control
   ros2 launch cubs2_bringup gamepad_control.xml

   # Terminal 3: Visualization
   ros2 launch cubs2_bringup viz.xml

Replay Analysis
^^^^^^^^^^^^^^^

.. code-block:: bash

   # Compare simulation with recorded flight
   ros2 launch cubs2_bringup sim.xml enable_replay:=true show_forces:=true

   # In separate terminal
   ros2 launch cubs2_bringup viz.xml

Configuration
-------------

RViz Layout
^^^^^^^^^^^

Default RViz configuration: ``config/cubs2.rviz`` (loaded from cubs2_rviz)

Racecourse Gates
^^^^^^^^^^^^^^^^

Gate definitions: ``racecourse_description/config/racecourse.yaml``

Dependencies
------------

**Execution Dependencies:**

* cubs2_simulation
* cubs2_planning
* cubs2_rviz
* racecourse_description

All runtime components are brought together in this package.

Design Philosophy
-----------------

This package follows the ROS2 "bringup" pattern:

1. **No code** - Only launch files and configuration
2. **System integration** - Combines components from other packages
3. **Parameterized** - Flexible launch arguments for different scenarios
4. **Documented** - Clear usage examples