def test_shutdown_reason():
"""Test the execute (or visit) of a Shutdown class that has a reason."""
action = Shutdown(reason='test reason')
context = LaunchContext()
assert action.visit(context) is None
assert context._event_queue.qsize() == 1
event = context._event_queue.get_nowait()
assert isinstance(event, ShutdownEvent)
assert event.reason == 'test reason'
def test_shutdown_execute():
"""Test the execute (or visit) of the Shutdown class."""
action = Shutdown()
context = LaunchContext()
assert context._event_queue.qsize() == 0
assert action.visit(context) is None
assert context._event_queue.qsize() == 1
event = context._event_queue.get_nowait()
assert isinstance(event, ShutdownEvent)
def generate_launch_description():
description_path = generate_models()
return LaunchDescription([
Node(
name='robot_state_publisher',
package='robot_state_publisher',
executable='robot_state_publisher',
output='own_log',
arguments=[description_path],
),
Node(
name='rviz',
package='rviz2',
executable='rviz2',
output='own_log',
),
Node(
name='executor',
package='hex_control',
executable='executor',
output='screen',
on_exit=Shutdown(),
),
# Node(
# name='dummy_path_publisher',
# package='hex_control',
# executable='dummy_path_publisher',
# output='screen',
# ),
])
def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument(
name="config_path",
default_value=os.path.join(
get_package_share_directory("march_safety"),
"config",
"safety_settings.yaml",
),
description="Path to the configuration for the safety settings",
),
DeclareLaunchArgument(
name="use_sim_time",
default_value="true",
description="Whether to use simulation time",
),
Node(
package="march_safety",
executable="march_safety_node",
name="safety_node",
namespace="march",
output="screen",
parameters=[
LaunchConfiguration("config_path"),
{
"use_sim_time": LaunchConfiguration("use_sim_time")
},
],
# If this node exits, the entire system is shutdown
# This is the ROS2 equivalent of required:=true
# See: https://ubuntu.com/blog/ros2-launch-required-nodes
on_exit=Shutdown(),
),
])
def generate_launch_description():
"""Generate launch file."""
joy_node = Node(
package='joy',
executable='joy_node',
on_exit=Shutdown(),
)
record_joy = Node(
package='ps_ros2_common',
executable='joy_test',
output='screen',
on_exit=Shutdown(),
)
return LaunchDescription([
joy_node,
record_joy,
])
def generate_launch_description():
"""Launch file for the fake_covid_publisher node that will spam fake possible foot location.
For more information see '../march_fake_covid/fake_covid_publisher.py'.
Can change parameters during runtime by calling in a terminal:
'ros2 param set fake_covid_publisher [param_name] [value]'
with param_name and value possibilities:
* location_x: either a double or 'random'
* location_y: either a double or 'random'
"""
return LaunchDescription([
DeclareLaunchArgument(
name="use_sim_time",
default_value="True",
description="Whether to use simulation time as published on the "
"/clock topic by gazebo instead of system time.",
),
DeclareLaunchArgument(
name="location_x",
default_value="0.4",
description=
"x-location for fake covid topic, takes double or 'random'",
),
DeclareLaunchArgument(
name="location_y",
default_value="0.0",
description=
"y-location for fake covid topic, takes double or 'random'",
),
Node(
package="march_fake_covid",
executable="march_fake_covid",
output="screen",
name="fake_covid_publisher",
namespace="march",
parameters=[
{
"use_sim_time": LaunchConfiguration("use_sim_time")
},
{
"location_x": LaunchConfiguration("location_x")
},
{
"location_y": LaunchConfiguration("location_y")
},
],
on_exit=Shutdown(),
),
])
def generate_launch_description():
return LaunchDescription([
ExecuteLocal(
process_description=Executable(cmd=[sys.executable, '-c', "print('action')"]),
respawn=True, respawn_delay=respawn_delay, on_exit=on_exit_callback
),
TimerAction(
period=shutdown_time,
actions=[
Shutdown(reason='Timer expired')
]
)
])
def test_shutdown_execute_conditional():
"""Test the conditional execution (or visit) of the Shutdown class."""
true_action = Shutdown(condition=IfCondition('True'))
false_action = Shutdown(condition=IfCondition('False'))
context = LaunchContext()
assert context._event_queue.qsize() == 0
assert false_action.visit(context) is None
assert context._event_queue.qsize() == 0
assert true_action.visit(context) is None
assert context._event_queue.qsize() == 1
event = context._event_queue.get_nowait()
assert isinstance(event, ShutdownEvent)
def generate_launch_description():
return LaunchDescription([
Node(
package="test_minimal_publisher",
executable="test_minimal_publisher_node",
name="test_minimal_publisher_node",
),
Node(
package="test_minimal_subscriber",
executable="test_minimal_subscriber_node",
name="test_minimal_subscriber_node",
output="screen",
emulate_tty=True,
parameters=[{
"exit_after_receive": True
}],
on_exit=Shutdown(),
),
])
def test_launch_required_node(self):
# This node will never exit on its own, it'll keep publishing forever.
long_running_node = launch_ros.actions.Node(
package='demo_nodes_py', node_executable='talker_qos', output='screen',
node_namespace='my_ns',
)
# This node will exit after publishing a single message. It is required, so we
# tie on_exit to the Shutdown action which means that, once it exits, it should
# bring down the whole launched system, including the above node that will never
# exit on its own.
required_node = launch_ros.actions.Node(
package='demo_nodes_py', node_executable='talker_qos', output='screen',
node_namespace='my_ns2', arguments=['--number_of_cycles', '1'],
on_exit=Shutdown()
)
# If the on_exit functionality or Shutdown action breaks, this will never return.
self._assert_launch_no_errors([required_node, long_running_node])
def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument('namespace', default_value=''),
Node(
package='rviz2',
executable='rviz2',
arguments=[
'-d',
os.path.join(
get_package_share_directory('naosoccer_visualization_launch'),
'rviz', 'nao.rviz')
],
namespace=LaunchConfiguration('namespace'),
on_exit=Shutdown()
),
Node(
package='soccer_marker_generation',
executable='ball_to_marker',
namespace=LaunchConfiguration('namespace')
),
Node(
package='soccer_marker_generation',
executable='goalpost_array_to_marker_array',
namespace=LaunchConfiguration('namespace')
),
Node(
package='soccer_marker_generation',
executable='field_line_array_to_marker_array',
namespace=LaunchConfiguration('namespace')
),
Node(
package='soccer_marker_generation',
executable='robot_array_to_marker_array',
namespace=LaunchConfiguration('namespace')
),
])
def launch_setup(context, *args, **kwargs):
# fmt: off
architecture_type = LaunchConfiguration("architecture_type",
default="awf/universe")
autoware_launch_file = LaunchConfiguration(
"autoware_launch_file",
default=default_autoware_launch_file_of(
architecture_type.perform(context)))
autoware_launch_package = LaunchConfiguration(
"autoware_launch_package",
default=default_autoware_launch_package_of(
architecture_type.perform(context)))
global_frame_rate = LaunchConfiguration("global_frame_rate", default=30.0)
global_real_time_factor = LaunchConfiguration("global_real_time_factor",
default=1.0)
global_timeout = LaunchConfiguration("global_timeout", default=180)
initialize_duration = LaunchConfiguration("initialize_duration",
default=30)
launch_autoware = LaunchConfiguration("launch_autoware", default=True)
launch_rviz = LaunchConfiguration("launch_rviz", default=False)
output_directory = LaunchConfiguration("output_directory",
default=Path("/tmp"))
port = LaunchConfiguration("port", default=8080)
record = LaunchConfiguration("record", default=True)
scenario = LaunchConfiguration("scenario", default=Path("/dev/null"))
sensor_model = LaunchConfiguration("sensor_model", default="")
sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8)
vehicle_model = LaunchConfiguration("vehicle_model", default="")
workflow = LaunchConfiguration("workflow", default=Path("/dev/null"))
# fmt: on
print(f"architecture_type := {architecture_type.perform(context)}")
print(
f"autoware_launch_file := {autoware_launch_file.perform(context)}")
print(
f"autoware_launch_package := {autoware_launch_package.perform(context)}"
)
print(f"global_frame_rate := {global_frame_rate.perform(context)}")
print(
f"global_real_time_factor := {global_real_time_factor.perform(context)}"
)
print(f"global_timeout := {global_timeout.perform(context)}")
print(f"initialize_duration := {initialize_duration.perform(context)}")
print(f"launch_autoware := {launch_autoware.perform(context)}")
print(f"launch_rviz := {launch_rviz.perform(context)}")
print(f"output_directory := {output_directory.perform(context)}")
print(f"port := {port.perform(context)}")
print(f"record := {record.perform(context)}")
print(f"scenario := {scenario.perform(context)}")
print(f"sensor_model := {sensor_model.perform(context)}")
print(f"sigterm_timeout := {sigterm_timeout.perform(context)}")
print(f"vehicle_model := {vehicle_model.perform(context)}")
print(f"workflow := {workflow.perform(context)}")
def make_parameters():
parameters = [
{
"architecture_type": architecture_type
},
{
"autoware_launch_file": autoware_launch_file
},
{
"autoware_launch_package": autoware_launch_package
},
{
"initialize_duration": initialize_duration
},
{
"launch_autoware": launch_autoware
},
{
"port": port
},
{
"record": record
},
{
"sensor_model": sensor_model
},
{
"vehicle_model": vehicle_model
},
]
def description():
return get_package_share_directory(
vehicle_model.perform(context) + "_description")
if vehicle_model.perform(context):
parameters.append(description() +
"/config/vehicle_info.param.yaml")
parameters.append(description() +
"/config/simulator_model.param.yaml")
return parameters
return [
# fmt: off
DeclareLaunchArgument("architecture_type",
default_value=architecture_type),
DeclareLaunchArgument("autoware_launch_file",
default_value=autoware_launch_file),
DeclareLaunchArgument("autoware_launch_package",
default_value=autoware_launch_package),
DeclareLaunchArgument("global_frame_rate",
default_value=global_frame_rate),
DeclareLaunchArgument("global_real_time_factor",
default_value=global_real_time_factor),
DeclareLaunchArgument("global_timeout", default_value=global_timeout),
DeclareLaunchArgument("launch_autoware",
default_value=launch_autoware),
DeclareLaunchArgument("launch_rviz", default_value=launch_rviz),
DeclareLaunchArgument("output_directory",
default_value=output_directory),
DeclareLaunchArgument("scenario", default_value=scenario),
DeclareLaunchArgument("sensor_model", default_value=sensor_model),
DeclareLaunchArgument("sigterm_timeout",
default_value=sigterm_timeout),
DeclareLaunchArgument("vehicle_model", default_value=vehicle_model),
DeclareLaunchArgument("workflow", default_value=workflow),
# fmt: on
Node(
package="scenario_test_runner",
executable="scenario_test_runner",
namespace="simulation",
name="scenario_test_runner",
output="screen",
on_exit=Shutdown(),
arguments=[
# fmt: off
"--global-frame-rate",
global_frame_rate,
"--global-real-time-factor",
global_real_time_factor,
"--global-timeout",
global_timeout,
"--output-directory",
output_directory,
"--scenario",
scenario,
"--workflow",
workflow,
# fmt: on
],
),
Node(
package="simple_sensor_simulator",
executable="simple_sensor_simulator_node",
namespace="simulation",
name="simple_sensor_simulator",
output="screen",
parameters=[{
"port": port
}],
),
LifecycleNode(
package="openscenario_interpreter",
executable="openscenario_interpreter_node",
namespace="simulation",
name="openscenario_interpreter",
output="screen",
parameters=make_parameters(),
# on_exit=Shutdown(),
),
Node(
package="openscenario_visualization",
executable="openscenario_visualization_node",
namespace="simulation",
name="openscenario_visualizer",
output="screen",
),
Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output={
"stderr": "log",
"stdout": "log"
},
condition=IfCondition(launch_rviz),
arguments=[
"-d",
str(
# Path(get_package_share_directory("scenario_test_runner"))
Path(get_package_share_directory("traffic_simulator")) /
"config/scenario_simulator_v2.rviz"),
],
),
]
def generate_launch_description():
cmd = [[
'gzclient',
_boolean_command('version'),
' ',
_boolean_command('verbose'),
' ',
_boolean_command('help'),
' ',
LaunchConfiguration('extra_gazebo_args'),
]]
model, plugin, media = GazeboRosPaths.get_paths()
if 'GAZEBO_MODEL_PATH' in environ:
model += pathsep + environ['GAZEBO_MODEL_PATH']
if 'GAZEBO_PLUGIN_PATH' in environ:
plugin += pathsep + environ['GAZEBO_PLUGIN_PATH']
if 'GAZEBO_RESOURCE_PATH' in environ:
media += pathsep + environ['GAZEBO_RESOURCE_PATH']
env = {
'GAZEBO_MODEL_PATH': model,
'GAZEBO_PLUGIN_PATH': plugin,
'GAZEBO_RESOURCE_PATH': media,
}
prefix = PythonExpression([
'"gdb -ex run --args" if "true" == "',
LaunchConfiguration('gdb'),
'"else "valgrind" if "true" == "',
LaunchConfiguration('valgrind'),
'"else ""',
])
return LaunchDescription([
DeclareLaunchArgument(
'version',
default_value='false',
description='Set "true" to output version information'),
DeclareLaunchArgument(
'verbose',
default_value='false',
description='Set "true" to increase messages written to terminal'),
DeclareLaunchArgument(
'help',
default_value='false',
description='Set "true" to produce gzclient help message'),
DeclareLaunchArgument(
'extra_gazebo_args',
default_value='',
description='Extra arguments to be passed to Gazebo'),
# Specific to gazebo_ros
DeclareLaunchArgument(
'gdb',
default_value='false',
description='Set "true" to run gzserver with gdb'),
DeclareLaunchArgument(
'valgrind',
default_value='false',
description='Set "true" to run gzserver with valgrind'),
DeclareLaunchArgument(
'gui_required',
default_value='false',
description=
'Set "true" to shut down launch script when GUI is terminated'),
# Execute node with on_exit=Shutdown if gui_required is specified.
# See ros-simulation/gazebo_ros_pkgs#1086. Simplification of logic
# would be possible pending ros2/launch#290.
ExecuteProcess(
cmd=cmd,
output='screen',
additional_env=env,
shell=True,
prefix=prefix,
on_exit=Shutdown(),
condition=IfCondition(LaunchConfiguration('gui_required')),
),
# Execute node with default on_exit if the node is not required
ExecuteProcess(
cmd=cmd,
output='screen',
additional_env=env,
shell=True,
prefix=prefix,
condition=UnlessCondition(LaunchConfiguration('gui_required')),
),
])
def generate_launch_description():
cmd = [
'gzserver',
# Pass through arguments to gzserver
LaunchConfiguration('world'), ' ',
_boolean_command('version'), ' ',
_boolean_command('verbose'), ' ',
_boolean_command('lockstep'), ' ',
_boolean_command('help'), ' ',
_boolean_command('pause'), ' ',
_arg_command('physics'), ' ', LaunchConfiguration('physics'), ' ',
_arg_command('play'), ' ', LaunchConfiguration('play'), ' ',
_boolean_command('record'), ' ',
_arg_command('record_encoding'), ' ', LaunchConfiguration('record_encoding'), ' ',
_arg_command('record_path'), ' ', LaunchConfiguration('record_path'), ' ',
_arg_command('record_period'), ' ', LaunchConfiguration('record_period'), ' ',
_arg_command('record_filter'), ' ', LaunchConfiguration('record_filter'), ' ',
_arg_command('seed'), ' ', LaunchConfiguration('seed'), ' ',
_arg_command('iters'), ' ', LaunchConfiguration('iters'), ' ',
_boolean_command('minimal_comms'),
_plugin_command('init'), ' ',
_plugin_command('factory'), ' ',
_plugin_command('force_system'), ' ',
# Wait for (https://github.com/ros-simulation/gazebo_ros_pkgs/pull/941)
# _plugin_command('force_system'), ' ',
_arg_command('profile'), ' ', LaunchConfiguration('profile'),
LaunchConfiguration('extra_gazebo_args'),
]
model, plugin, media = GazeboRosPaths.get_paths()
if 'GAZEBO_MODEL_PATH' in environ:
model += pathsep+environ['GAZEBO_MODEL_PATH']
if 'GAZEBO_PLUGIN_PATH' in environ:
plugin += pathsep+environ['GAZEBO_PLUGIN_PATH']
if 'GAZEBO_RESOURCE_PATH' in environ:
media += pathsep+environ['GAZEBO_RESOURCE_PATH']
env = {
'GAZEBO_MODEL_PATH': model,
'GAZEBO_PLUGIN_PATH': plugin,
'GAZEBO_RESOURCE_PATH': media
}
prefix = PythonExpression([
'"gdb -ex run --args" if "true" == "',
LaunchConfiguration('gdb'),
'" else "valgrind" if "true" == "',
LaunchConfiguration('valgrind'),
'" else ""'
])
return LaunchDescription([
DeclareLaunchArgument(
'world', default_value='',
description='Specify world file name'
),
DeclareLaunchArgument(
'version', default_value='false',
description='Set "true" to output version information.'
),
DeclareLaunchArgument(
'verbose', default_value='false',
description='Set "true" to increase messages written to terminal.'
),
DeclareLaunchArgument(
'lockstep', default_value='false',
description='Set "true" to respect update rates'
),
DeclareLaunchArgument(
'help', default_value='false',
description='Set "true" to produce gzserver help message.'
),
DeclareLaunchArgument(
'pause', default_value='false',
description='Set "true" to start the server in a paused state.'
),
DeclareLaunchArgument(
'physics', default_value='',
description='Specify a physics engine (ode|bullet|dart|simbody).'
),
DeclareLaunchArgument(
'play', default_value='',
description='Play the specified log file.'
),
DeclareLaunchArgument(
'record', default_value='false',
description='Set "true" to record state data.'
),
DeclareLaunchArgument(
'record_encoding', default_value='',
description='Specify compression encoding format for log data (zlib|bz2|txt).'
),
DeclareLaunchArgument(
'record_path', default_value='',
description='Absolute path in which to store state data.'
),
DeclareLaunchArgument(
'record_period', default_value='',
description='Specify recording period (seconds).'
),
DeclareLaunchArgument(
'record_filter', default_value='',
description='Specify recording filter (supports wildcard and regular expression).'
),
DeclareLaunchArgument(
'seed', default_value='', description='Start with a given a random number seed.'
),
DeclareLaunchArgument(
'iters', default_value='', description='Specify number of iterations to simulate.'
),
DeclareLaunchArgument(
'minimal_comms', default_value='false',
description='Set "true" to reduce TCP/IP traffic output.'
),
DeclareLaunchArgument(
'profile', default_value='',
description='Specify physics preset profile name from the options in the world file.'
),
DeclareLaunchArgument(
'extra_gazebo_args', default_value='',
description='Extra arguments to be passed to Gazebo'
),
# Specific to gazebo_ros
DeclareLaunchArgument(
'gdb', default_value='false',
description='Set "true" to run gzserver with gdb'
),
DeclareLaunchArgument(
'valgrind', default_value='false',
description='Set "true" to run gzserver with valgrind'
),
DeclareLaunchArgument(
'init', default_value='true',
description='Set "false" not to load "libgazebo_ros_init.so"'
),
DeclareLaunchArgument(
'factory', default_value='true',
description='Set "false" not to load "libgazebo_ros_factory.so"'
),
DeclareLaunchArgument(
'force_system', default_value='true',
description='Set "false" not to load "libgazebo_ros_force_system.so"'
),
DeclareLaunchArgument(
'server_required', default_value='false',
description='Set "true" to shut down launch script when server is terminated'
),
# Execute node with on_exit=Shutdown if server_required is specified.
# See ros-simulation/gazebo_ros_pkgs#1086. Simplification of logic
# would be possible pending ros2/launch#290.
ExecuteProcess(
cmd=cmd,
output='screen',
additional_env=env,
shell=True,
prefix=prefix,
on_exit=Shutdown(),
condition=IfCondition(LaunchConfiguration('server_required')),
),
# Execute node with default on_exit if the node is not required
ExecuteProcess(
cmd=cmd,
output='screen',
additional_env=env,
shell=True,
prefix=prefix,
condition=UnlessCondition(LaunchConfiguration('server_required')),
),
])
def generate_launch_description():
"""Launch controller_testing_node and pure purusit controller."""
controller_testing_pkg_prefix = get_package_share_directory("controller_testing")
controller_testing_param_file = os.path.join(
controller_testing_pkg_prefix, "param/defaults.param.yaml"
)
rviz_cfg_path = os.path.join(controller_testing_pkg_prefix, 'config/pure_pursuit_cotrols.rviz')
pure_pursuit_pkg_prefix = get_package_share_directory("pure_pursuit_nodes")
pure_pursuit_param_file = os.path.join(
pure_pursuit_pkg_prefix, "param/pure_pursuit.param.yaml"
)
urdf_pkg_prefix = get_package_share_directory('lexus_rx_450h_description')
urdf_path = os.path.join(urdf_pkg_prefix, 'urdf/lexus_rx_450h.urdf')
# Arguments
controller_testing_param = DeclareLaunchArgument(
"controller_testing_param_file",
default_value=controller_testing_param_file,
description="Path to config file for Controller Testing",
)
pure_pursuit_controller_param = DeclareLaunchArgument(
"pure_pursuit_param_file",
default_value=pure_pursuit_param_file,
description="Path to config file to Pure Pursuit Controller",
)
with_rviz_param = DeclareLaunchArgument(
'with_rviz',
default_value='True',
description='Launch RVIZ2 in addition to other nodes'
)
real_time_sim_param = DeclareLaunchArgument(
'real_time_sim',
default_value='False',
description='Launch RVIZ2 in addition to other nodes'
)
# Nodes
controller_testing = Node(
package="controller_testing",
node_executable="controller_testing_main.py",
node_namespace="control",
node_name="controller_testing_node",
output="screen",
parameters=[LaunchConfiguration("controller_testing_param_file"), {
'real_time_sim': LaunchConfiguration('real_time_sim')
}],
remappings=[
("vehicle_state", "/vehicle/vehicle_kinematic_state"),
("planned_trajectory", "/planning/trajectory"),
("control_command", "/vehicle/control_command"),
("control_diagnostic", "/control/control_diagnostic"),
],
on_exit=Shutdown(),
condition=UnlessCondition(LaunchConfiguration('with_rviz'))
)
controller_testing_delayed = Node(
package="controller_testing",
node_executable="controller_testing_main.py",
node_namespace="control",
node_name="controller_testing_node",
output="screen",
parameters=[LaunchConfiguration("controller_testing_param_file"), {
'real_time_sim': LaunchConfiguration('real_time_sim')
}],
remappings=[
("vehicle_state", "/vehicle/vehicle_kinematic_state"),
("planned_trajectory", "/planning/trajectory"),
("control_command", "/vehicle/control_command"),
("control_diagnostic", "/control/control_diagnostic"),
],
on_exit=Shutdown(),
# delay added to allow rviz to be ready, better to start rviz separately, beforehand
prefix="bash -c 'sleep 2.0; $0 $@'",
condition=IfCondition(LaunchConfiguration('with_rviz'))
)
# pure pursuit controller
pure_pursuit_controller = Node(
package="pure_pursuit_nodes",
node_executable="pure_pursuit_node_exe",
# node_namespace="control",
node_name="pure_pursuit_node",
output="screen",
parameters=[LaunchConfiguration("pure_pursuit_param_file"), {}],
remappings=[
("current_pose", "/vehicle/vehicle_kinematic_state"),
("trajectory", "/planning/trajectory"),
("ctrl_cmd", "/vehicle/control_command"),
("ctrl_diag", "/control/control_diagnostic"),
],
)
rviz2 = Node(
package='rviz2',
node_executable='rviz2',
node_name='rviz2',
arguments=['-d', str(rviz_cfg_path)],
condition=IfCondition(LaunchConfiguration('with_rviz'))
)
urdf_publisher = Node(
package='robot_state_publisher',
node_executable='robot_state_publisher',
node_name='robot_state_publisher',
arguments=[str(urdf_path)]
)
return LaunchDescription(
[
real_time_sim_param,
controller_testing_param,
pure_pursuit_controller_param,
with_rviz_param,
rviz2,
urdf_publisher,
pure_pursuit_controller,
controller_testing, # if not with_rviz
controller_testing_delayed # with_rviz
]
)
def generate_launch_description():
"""Basic launch file to launch the gait selection node"""
return LaunchDescription([
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="Whether to use simulation time as published on the "
"/clock topic by gazebo instead of system time.",
),
DeclareLaunchArgument(
"gait_package",
default_value="march_gait_files",
description="The package where the gait files are located.",
),
DeclareLaunchArgument(
"gait_directory",
default_value="airgait_vi",
description="The directory in which the gait files to use are "
"located, relative to the gait_package.",
),
DeclareLaunchArgument(
"balance",
default_value="False",
description="Whether balance is being used.",
),
DeclareLaunchArgument(
"dynamic_gait",
default_value="False",
description="Wether dynamic_setpoint_gait is enabled",
),
# Dynamic gait parameters:
DeclareLaunchArgument(
name="dynamic_subgait_duration",
default_value="1.5",
description="Duration of a subgait created by the dynamic gait",
),
DeclareLaunchArgument(
name="middle_point_fraction",
default_value="0.45",
description="Fraction of the step at which the middle point "
"of the dynamic gait will take place.",
),
DeclareLaunchArgument(
name="middle_point_height",
default_value="0.15",
description="Height of the middle setpoint of dynamic gait "
"relative to the desired position, given in meters.",
),
DeclareLaunchArgument(
name="minimum_stair_height",
default_value="0.15",
description="A step lower or higher than the minimum_stair_height"
"will change the gait type to stairs_like instead of walk_like.",
),
DeclareLaunchArgument(
name="push_off_fraction",
default_value="0.15",
description="Fraction of the step at which the push off will"
"take place.",
),
DeclareLaunchArgument(
name="push_off_position",
default_value="-0.15",
description="Maximum joint position of the ankle during push off.",
),
# State machine parameters:
DeclareLaunchArgument(
name="first_subgait_delay",
default_value="0.2",
description="Duration to wait before starting first subgait."
"If 0 then the first subgait is started immediately,"
"dropping the first setpoint in the process.",
),
DeclareLaunchArgument(
name="early_schedule_duration",
default_value="0.2",
description="Duration to schedule next subgait early. If 0 then the"
"next subgait is never scheduled early.",
),
DeclareLaunchArgument(name="timer_period",
default_value="0.004",
description=""),
Node(
package="march_gait_selection",
executable="march_gait_selection",
output="screen",
name="gait_selection",
namespace="march",
parameters=[
{
"use_sim_time": LaunchConfiguration("use_sim_time")
},
{
"gait_package": LaunchConfiguration("gait_package")
},
{
"gait_directory": LaunchConfiguration("gait_directory")
},
{
"balance": LaunchConfiguration("balance")
},
{
"dynamic_gait": LaunchConfiguration("dynamic_gait")
},
{
"dynamic_subgait_duration":
LaunchConfiguration("dynamic_subgait_duration")
},
{
"middle_point_fraction":
LaunchConfiguration("middle_point_fraction")
},
{
"middle_point_height":
LaunchConfiguration("middle_point_height")
},
{
"minimum_stair_height":
LaunchConfiguration("minimum_stair_height")
},
{
"push_off_fraction":
LaunchConfiguration("push_off_fraction")
},
{
"push_off_position":
LaunchConfiguration("push_off_position")
},
{
"first_subgait_delay":
LaunchConfiguration("first_subgait_delay")
},
{
"early_schedule_duration":
LaunchConfiguration("early_schedule_duration")
},
{
"timer_period": LaunchConfiguration("timer_period")
},
],
on_exit=Shutdown(),
),
])
