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:

# 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:

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:

ros2 launch cubs2_bringup gamepad_control.xml

keyboard_control.xml

Manual control via keyboard.

Nodes Started:

Keyboard control node

Usage:

ros2 launch cubs2_bringup keyboard_control.xml

planning.xml

Standalone path planner (no simulation).

Arguments:

gate_sequence (default: [0,1,2,…]) - Waypoint order

Usage:

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

Complete Workflow

Standard Simulation

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

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

Manual Control

# 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

# 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:

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