From 3772c970098f517cb6497e4849625b304097b093 Mon Sep 17 00:00:00 2001
From: Anthony Brogni <anthonybrog@gmail.com>
Date: Tue, 14 May 2024 15:44:51 -0400
Subject: [PATCH] Uncommented everything in the laptop launch file

---
 src/gstreamer/launch/laptop_launch.py | 58 +++++++++++++--------------
 1 file changed, 29 insertions(+), 29 deletions(-)

diff --git a/src/gstreamer/launch/laptop_launch.py b/src/gstreamer/launch/laptop_launch.py
index 7ef2e840..9ae2afc7 100644
--- a/src/gstreamer/launch/laptop_launch.py
+++ b/src/gstreamer/launch/laptop_launch.py
@@ -1,46 +1,46 @@
-# import os
+import os
 from launch import LaunchDescription
-# from launch_ros.actions import Node
+from launch_ros.actions import Node
 from launch.actions import ExecuteProcess
-# from launch.conditions import IfCondition
-# from launch.actions import DeclareLaunchArgument
-# from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.conditions import IfCondition
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 
-# Launches the joystick node and the gstreamer camera client on the operator laptop
+# Launches the joystick node and rviz and the gstreamer camera client on the operator laptop
 def generate_launch_description():
     ld = LaunchDescription()
 
-    # bringup_dir = os.path.join("config", "rviz")
+    bringup_dir = os.path.join("config", "rviz")
 
-    # # Config
-    # config_name = LaunchConfiguration("config_name", default="zed_example.rviz")
-    # config_path = PathJoinSubstitution([bringup_dir, config_name])
-    # global_frame = LaunchConfiguration("global_frame", default="map")
+    # Config
+    config_name = LaunchConfiguration("config_name", default="zed_example.rviz")
+    config_path = PathJoinSubstitution([bringup_dir, config_name])
+    global_frame = LaunchConfiguration("global_frame", default="map")
 
-    # run_rviz_arg = DeclareLaunchArgument("run_rviz_client", default_value="True", description="Whether to start RVIZ")
+    run_rviz_arg = DeclareLaunchArgument("run_rviz_client", default_value="True", description="Whether to start RVIZ")
 
-    # joystick_node = Node(
-    #     package="joy",
-    #     executable="joy_node",
-    #     parameters=["config/joy_node.yaml"],
-    # )
+    joystick_node = Node(
+        package="joy",
+        executable="joy_node",
+        parameters=["config/joy_node.yaml"],
+    )
 
     start_gStreamer_client = ExecuteProcess(
         cmd=["rqt", "--force-discover", "--standalone", "CameraClient"], shell=True, output="screen"
     )
 
-    # rviz_node = Node(
-    #     package="rviz2",
-    #     executable="rviz2",
-    #     name="rviz2",
-    #     output="screen",
-    #     arguments=["-d", config_path, "-f", global_frame],
-    #     condition=IfCondition(LaunchConfiguration("run_rviz_client")),
-    # )
-
-    # ld.add_action(run_rviz_arg)
-    # ld.add_action(joystick_node) # TODO: The joystick node currently does not work inside the container
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        arguments=["-d", config_path, "-f", global_frame],
+        condition=IfCondition(LaunchConfiguration("run_rviz_client")),
+    )
+
+    ld.add_action(run_rviz_arg)
+    ld.add_action(joystick_node) # TODO: The joystick node currently does not work inside the container!
     ld.add_action(start_gStreamer_client)
-    # ld.add_action(rviz_node)
+    ld.add_action(rviz_node)
 
     return ld