def launch_a_python_launch_file(*,
python_launch_file_path,
launch_file_arguments,
debug=False):
"""Launch a given Python launch file (by path) and pass it the given launch file arguments."""
launch_service = launch.LaunchService(argv=launch_file_arguments,
debug=debug)
context = rclpy.context.Context()
rclpy.init(args=launch_file_arguments, context=context)
launch_service.include_launch_description(
launch_ros.get_default_launch_description(
prefix_output_with_name=False,
rclpy_context=context,
))
parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
python_launch_file_path),
launch_arguments=parsed_launch_arguments,
),
])
launch_service.include_launch_description(launch_description)
ret = launch_service.run()
context = rclpy.shutdown(context=context)
return ret
def main(argv=sys.argv[1:]):
"""Main."""
ld = LaunchDescription([
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='talker',
output='screen',
remappings=[('chatter', 'my_chatter')]),
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='listener',
output='screen',
remappings=[('chatter', 'my_chatter')]),
])
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
# ls = LaunchService(debug=True)
ls = LaunchService()
ls.include_launch_description(
get_default_launch_description(prefix_output_with_name=False))
ls.include_launch_description(ld)
return ls.run()
def generate_preamble(self):
return [launch.actions.IncludeLaunchDescription(
launch_description_source=launch.LaunchDescriptionSource(
launch_description=launch_ros.get_default_launch_description(
rclpy_context=self._rclpy_context,
)
)
)]
def _launch(launch_description):
loop = osrf_pycommon.process_utils.get_loop()
ls = LaunchService()
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(launch_description)
launch_task = loop.create_task(ls.run_async())
loop.run_until_complete(asyncio.sleep(5, loop=loop))
if not launch_task.done():
loop.create_task(ls.shutdown())
loop.run_until_complete(launch_task)
rclpy.shutdown()
return ls.context
def run_and_trace(
base_path: str,
session_name_prefix: str,
ros_events: List[str],
kernel_events: List[str],
package_name: str,
node_names: List[str],
) -> Tuple[int, str]:
"""
Run a node while tracing.
:param base_path: the base path where to put the trace directory
:param session_name_prefix: the session name prefix for the trace directory
:param ros_events: the list of ROS UST events to enable
:param kernel_events: the list of kernel events to enable
:param package_name: the name of the package to use
:param node_names: the names of the nodes to execute
:return: exit code, full generated path
"""
session_name = append_timestamp(session_name_prefix)
full_path = os.path.join(base_path, session_name)
launch_actions = []
# Add trace action
launch_actions.append(
Trace(
session_name=session_name,
append_timestamp=False,
base_path=base_path,
events_ust=ros_events,
events_kernel=kernel_events,
))
# Add nodes
for node_name in node_names:
n = Node(
package=package_name,
node_executable=node_name,
output='screen',
)
launch_actions.append(n)
ld = LaunchDescription(launch_actions)
ls = LaunchService()
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(ld)
exit_code = ls.run()
return exit_code, full_path
def main(argv=sys.argv[1:]):
"""Main."""
ld = generate_launch_description()
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
ls = LaunchService()
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(ld)
return ls.run()
def launch_a_python_launch_file(*,
python_launch_file_path,
launch_file_arguments,
debug=False):
"""Launch a given Python launch file (by path) and pass it the given launch file arguments."""
launch_service = launch.LaunchService(argv=launch_file_arguments,
debug=debug)
launch_service.include_launch_description(
launch_ros.get_default_launch_description(
prefix_output_with_name=False))
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
python_launch_file_path))
])
launch_service.include_launch_description(launch_description)
return launch_service.run()
def generate_launch_description():
"""Main."""
ld = LaunchDescription([
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='talker',
output='screen',
remappings=[('chatter', 'my_chatter')]),
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='listener',
output='screen',
remappings=[('chatter', 'my_chatter')]),
])
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
return ld
if __name__ == '__main__':
# ls = LaunchService(debug=True)
ls = LaunchService()
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(generate_launch_description())
ls.run()
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()
def generate_launch_description():
"""Setup Logging"""
log = Logger()
"""Load Configuration File"""
param_file = os.getcwd() + '/params.yaml'
# this prevents everything crashing if you deleted the config.yaml
node_remaps = []
if os.path.isfile(param_file):
node_remaps += [('__params', param_file)]
launch_print("Using parameters file: " + param_file)
else:
launch_print("Parameters file not found: " + param_file)
"""Generate launch description with multiple components."""
ld = get_default_launch_description()
ld.add_action(launch.actions.DeclareLaunchArgument(
'gdb',
default_value='false',
description="Launch using GDB."
))
ld.add_action(launch.actions.SetLaunchConfiguration(
name='launch-prefix',
value='gdbserver :2000',
condition=IfCondition(LaunchConfiguration('gdb'))
))
ld.add_action(ComposableNodeContainer(
node_name='example_container',
node_namespace=[],
package='rclcpp_components',
node_executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='example',
node_plugin='ExampleConfig',
node_name='exampleConfig',
remappings=node_remaps),
ComposableNode(
package='example',
node_plugin='ExamplePub',
node_name='examplePub',
remappings=node_remaps),
ComposableNode(
package='example',
node_plugin='ExampleSub',
node_name='exampleSub',
remappings=node_remaps),
ComposableNode(
package='example',
node_plugin='ExampleTime',
node_name='exampleTime',
remappings=node_remaps),
ComposableNode(
package='example',
node_plugin='ExampleLog',
node_name='exampleLog',
remappings=node_remaps),
ComposableNode(
package='example',
node_plugin='ExampleTF',
node_name='example_tf_node',
remappings=node_remaps),
ComposableNode(
package='example',
node_plugin='ExampleTF_filter',
node_name='example_tf_filter_node',
remappings=node_remaps),
],
output='screen',
# arguments=[('__log_level:=debug')]
))
ld.add_action(
launch.actions.RegisterEventHandler(
event_handler=launch.event_handlers.OnProcessIO(
on_stdout=lambda info: log.write(info.text),
on_stderr=lambda info: log.write(info.text),
))
)
# broadcast static tf.
# Example of reading this trasnformation is in example_tf.cc
# translation: 2m in x axis, 0m in y axis, 2m in z axis
# rotation: 0 degrees in x axis, 0 degrees in y axis, 0 degrees in z axis
ld.add_action(Node(
package='tf2_ros',
node_executable='static_transform_publisher',
arguments=['2', '0', '2', '0', '0', '0', 'parent', 'child'],
output='both',
))
return ld
