From 30cbeae4361912b04ec925067d5e0b81986572f7 Mon Sep 17 00:00:00 2001
From: itskalvik <kjakkala@uncc.edu>
Date: Wed, 31 Jul 2024 08:40:02 -0400
Subject: [PATCH] Reset defaults to Rover-Sonar with fake lake data

---
 launch/single_robot.launch.py | 13 ++++++++++---
 scripts/guided_mission.py     |  2 +-
 scripts/ipp_mission.py        |  2 +-
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/launch/single_robot.launch.py b/launch/single_robot.launch.py
index 5a468e6..d72610f 100644
--- a/launch/single_robot.launch.py
+++ b/launch/single_robot.launch.py
@@ -9,13 +9,13 @@
 
 def generate_launch_description():
     namespace = 'robot_0'
-    data_type = 'Altitude'
+    data_type = 'Sonar'
     num_robots = 1
-    num_waypoints = 10
+    num_waypoints = 20
     sampling_rate = 2
     geofence_plan = PathJoinSubstitution([FindPackageShare('ros_sgp_tools'),
                                           'launch',
-                                          'trail.plan'])
+                                          'lake.plan'])
     
     return LaunchDescription([
         Node(
@@ -30,6 +30,13 @@ def generate_launch_description():
                 }
             ]
         ),
+
+        Node(
+            package='ros_sgp_tools',
+            executable='lake_depth_publisher.py',
+            name='FakeSonarData',
+            namespace=namespace,
+        ),
         
         Node(
             package='ros_sgp_tools',
diff --git a/scripts/guided_mission.py b/scripts/guided_mission.py
index a72e4fd..081d07e 100755
--- a/scripts/guided_mission.py
+++ b/scripts/guided_mission.py
@@ -309,7 +309,7 @@ def mission(self):
 def main(args=None):
     rclpy.init(args=args)
 
-    mission_planner = MissionPlanner(use_altitude=True)
+    mission_planner = MissionPlanner(use_altitude=False)
     rclpy.spin_once(mission_planner)
     mission_planner.mission()
 
diff --git a/scripts/ipp_mission.py b/scripts/ipp_mission.py
index f98fcad..fc1f47b 100755
--- a/scripts/ipp_mission.py
+++ b/scripts/ipp_mission.py
@@ -90,7 +90,7 @@ def mission(self):
 
 def main(args=None):
     rclpy.init(args=args)
-    mission_planner = IPPMissionPlanner(True)
+    mission_planner = IPPMissionPlanner()
     rclpy.spin_once(mission_planner)
 
 if __name__ == '__main__':