def create_proposition_launch_file(yaml_file, launch_file, example_name):
# form proposition launch file from yaml file
import file_operations
input_prop_to_ros_info, output_prop_to_ros_info = file_operations.loadYAMLFile(
yaml_file)
#file_operations.create_launch_file(launch_file, example_name, input_prop_to_ros_info, output_prop_to_ros_info)
file_operations.create_launch_file_by_namespaces(launch_file, example_name,
input_prop_to_ros_info,
output_prop_to_ros_info)
def __init__(self, yaml_file):
# load yaml file
input_prop_to_ros_info, output_prop_to_ros_info = file_operations.loadYAMLFile(
args.yaml_file)
# set up ros publishers
self.setup_publish_topics(output_prop_to_ros_info)
# subscribe to controller (need to first create the manager)
rospy.Subscriber('executor/incoming_outputs',
controller_executor.msg.stringKeyBoolValueDict,
callback=self.update_outputs)
def __init__(self, yaml_file, node_name):
# load yaml file
input_prop_to_ros_info, output_prop_to_ros_info = file_operations.loadYAMLFile(
yaml_file)
# subscribe to topics
self.subscribe_to_topics(input_prop_to_ros_info)
# setup publisher for inputs dict
self.input_dict_pub = rospy.Publisher(
node_name + '/incoming_inputs',
controller_executor.msg.stringKeyBoolValueDict,
queue_size=10)
input_manager_logger.info("Finished Input Manager Initialization...")