def generate_launch_description(): pkgsPath = FindPackageShare(["detect_object", "motion_control"]) use_sim_time = True container = ComposableNodeContainer( name='ComponentManager', namespace='', package='rclcpp_components', executable='component_container', composable_node_descriptions=[ ComposableNode(package='detect_object', plugin='detect_object::DetectLane', parameters=[ os.path.join(pkgsPath.find("detect_object"), "config", "component", "detect_lane.yaml"), { "use_sim_time": use_sim_time } ], name='detect_lane'), ComposableNode(package='motion_control', plugin='motion_control::LaneControl', parameters=[ os.path.join(pkgsPath.find("motion_control"), "config", "component", "lane_control.yaml"), { "use_sim_time": use_sim_time } ], name='lane_control') ], output='screen', ) return LaunchDescription([container])
def generate_launch_description(): pkgsPath = FindPackageShare(["cam_tools"]) container = ComposableNodeContainer( name='ComponentManager', namespace='', package='rclcpp_components', executable='component_container', composable_node_descriptions=[ ComposableNode( package='cam_tools', plugin='cam_tools::CamCalibration', parameters=[ os.path.join( pkgsPath.find("cam_tools"),"config","cam_calibration_component.yaml"), ], name='cam_calibration') ], output='screen', ) return LaunchDescription([container])