roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch x_pos:="0.8" y_pos:="-1.747" z_pos:="0" yaw:="0" &
sleep 3
roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch &
sleep 3

#roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch &
#roslaunch turtlebot3_autorace_detect detect_lane.launch mode:=action &
#roslaunch turtlebot3_autorace_detect detect_traffic_light.launch mode:=action &
#roslaunch turtlebot3_autorace_driving turtlebot3_autorace_control_lane.launch &
roslaunch turtlebot3_autorace_core turtlebot3_autorace_traffic_light.launch &

rqt_image_view &
read -p "Press [Enter] key to start."
echo " 3"
sleep 1
echo " 2"
sleep 1
echo " 1"
sleep 1
echo " 0 Start "
rostopic pub -1 /core/decided_mode std_msgs/UInt8 "data: 3" &
sleep 3
roslaunch turtlebot3_autorace_core turtlebot3_autorace_mission.launch &