Merge pull request #191 from CWRUbotix/three-monitor

Three monitor display, needs testing

Author: benjaminwp18

src/surface/gui/gui/pilot_app.py

@@ -35,13 +35,13 @@ class GuiType(enum.Enum):
 # Use 1 or 2 to launch fullscreen on the corresponding monitor
 # Use `None` to launch in windowed mode
 TWO_MONITOR_CONFIG: dict[GuiType, int | None] = {
-    GuiType.PILOT: None,
-    GuiType.LIVESTREAM: 1,
+    GuiType.PILOT: 1,
+    GuiType.LIVESTREAM: None,
     GuiType.DEBUG: None,
 }
 THREE_MONITOR_CONFIG: dict[GuiType, int | None] = {
-    GuiType.PILOT: 2,
-    GuiType.LIVESTREAM: 1,
+    GuiType.PILOT: 1,
+    GuiType.LIVESTREAM: 2,
     GuiType.DEBUG: None,
 }
 

src/surface/surface_main/launch/competition_launch.py

@@ -1,23 +1,32 @@
 from pathlib import Path
 
 from ament_index_python.packages import get_package_share_directory
-from launch.actions import IncludeLaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription
 from launch.launch_description import LaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import PushRosNamespace
 
 
 def generate_launch_description() -> LaunchDescription:
     surface_path = get_package_share_directory('surface_main')
+    gui_path = get_package_share_directory('gui')
 
     all_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [str(Path(surface_path) / 'launch' / 'surface_all_nodes_launch.py')]
         ),
+    )
+
+    livestream_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([str(Path(gui_path) / 'launch' / 'pilot_launch.py')]),
         launch_arguments=[('gui', 'livestream')],
     )
 
+    namespace_launch = GroupAction(actions=[PushRosNamespace('surface'), livestream_launch])
+
     return LaunchDescription(
         [
             all_launch,
+            namespace_launch,
         ]
     )