ld.add_action(
Node(package='tsim',
executable='requester',
name='requester',
output='screen',
additional_env={'PYTHONUNBUFFERED': '1'},
parameters=[parameter_path]))
ld.add_action(
Node(package='tsim',
executable='autopilot',
name='autopilot',
output='screen',
additional_env={'PYTHONUNBUFFERED': '1'},
prefix='xterm -e'))
return ld
if __name__ == '__main__':
ld = generate_launch_description()
print('Starting introspection of launch description...\n')
print(launch.LaunchIntrospector().format_launch_description(ld))
print('\nStarting launch of launch description...\n')
#ls = LaunchService(debug=True)
ls = launch.LaunchService()
ls.include_launch_description(ld)
ls.run(shutdown_when_idle=False)
def print_a_python_launch_file(*, python_launch_file_path):
"""Print the description of a Python launch file to the console."""
launch_description = get_launch_description_from_python_launch_file(
python_launch_file_path)
print(launch.LaunchIntrospector().format_launch_description(
launch_description))
def main(argv=sys.argv[1:]):
"""Main."""
ld = launch.LaunchDescription()
# Prepare the talker node.
talker_node = launch_ros.actions.LifecycleNode(
node_name='talker',
package='lifecycle',
node_executable='lifecycle_talker',
output='screen')
# When the talker reaches the 'inactive' state, make it take the 'activate' transition.
register_event_handler_for_talker_reaches_inactive_state = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=talker_node,
goal_state='inactive',
entities=[
launch.actions.LogInfo(
msg=
"node 'talker' reached the 'inactive' state, 'activating'."
),
launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(
talker_node),
transition_id=lifecycle_msgs.msg.Transition.
TRANSITION_ACTIVATE,
)),
],
))
# When the talker node reaches the 'active' state, log a message and start the listener node.
register_event_handler_for_talker_reaches_active_state = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=talker_node,
goal_state='active',
entities=[
launch.actions.LogInfo(
msg=
"node 'talker' reached the 'active' state, launching 'listener'."
),
launch_ros.actions.LifecycleNode(
node_name='listener',
package='lifecycle',
node_executable='lifecycle_listener',
output='screen'),
],
))
# Make the talker node take the 'configure' transition.
emit_event_to_request_that_talker_does_configure_transition = launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(talker_node),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
))
# Add the actions to the launch description.
# The order they are added reflects the order in which they will be executed.
ld.add_action(register_event_handler_for_talker_reaches_inactive_state)
ld.add_action(register_event_handler_for_talker_reaches_active_state)
ld.add_action(talker_node)
ld.add_action(emit_event_to_request_that_talker_does_configure_transition)
print('Starting introspection of launch description...')
print('')
print(launch.LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
# ls = launch.LaunchService(argv=argv, debug=True)
ls = launch.LaunchService(argv=argv)
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(ld)
return ls.run()
