def generate_launch_description(): return LaunchDescription([ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/hardware_2wd.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/sensors.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/ps4_teleop.launch.py'])), Node( package="tf2_ros", executable="static_transform_publisher", output='screen', arguments=[ '0', '0', '0.25', '0', '0', '0', 'base_footprint', 'base_link' ], ), Node( package="tf2_ros", executable="static_transform_publisher", output='screen', arguments=[ '0', '0', '0.05', str(pi), '0', '0', 'base_link', 'laser' ], ), ])
def generate_launch_description(): return LaunchDescription([ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), #Launch from Same Package #Launch Rviz IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rviz.launch.py'])), #Launch SLAM #TODO #Launch Controller IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/controller.launch.py'])), #Launch Localization #IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/localization.launch.py'])), #Launch Navigation #IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/navigation.launch.py'])), #Launch SLAM #IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/slam.launch.py'])), #Pull from different packages #IncludeLaunchDescription( # PythonLaunchDescriptionSource(os.path.join(launch_dir, # 'bringup_launch.py')), # launch_arguments={ # 'map': "/home/ros/willmap.yaml"}.items()), #IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(launch_dir, 'localization_launch.py')), ])
def generate_launch_description(): params1 = duplicate_params(rs_launch.configurable_parameters, '1') params2 = duplicate_params(rs_launch.configurable_parameters, '2') return LaunchDescription( rs_launch.declare_configurable_parameters(local_parameters) + rs_launch.declare_configurable_parameters(params1) + rs_launch.declare_configurable_parameters(params2) + [ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_launch.py']), launch_arguments=set_configurable_parameters(params1).items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_launch.py']), launch_arguments=set_configurable_parameters(params2).items(), ), # dummy static transformation from camera1 to camera2 launch_ros.actions.Node(package="tf2_ros", executable="static_transform_publisher", arguments=[ "0", "0", "0", "0", "0", "0", "camera1_link", "camera2_link" ]), ])
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='false') rviz_config_dir = os.path.join( get_package_share_directory('testbot_description'), 'rviz', 'testbot.rviz') return LaunchDescription([ DeclareLaunchArgument( 'use_sim_time', default_value=use_sim_time, description='Use simulation (Gazebo) clock if true'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/testjoint_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/testrobot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), Node(package='rviz2', node_executable='rviz2', node_name='rviz2', arguments=['-d', rviz_config_dir], output='screen'), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_face_d415.launch.py']), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_scene_d435.launch.py']), ), Node( package='tf2_ros', node_executable='static_transform_publisher', node_name='static_transform_publisher_face_d415_to_scene_d435', node_namespace='', output='screen', parameters=[], # Parallel arguments=['-0.05938306', '-0.0375', '0.0', '3.14159265', '0.0', '0.0', 'face_d415', 'scene_d435'], # # # 15 deg offset # arguments=['-0.0212582', '-0.06153793', '0.0', # '-3.40339204', '0.0', '0.0', # 'face_d415', 'scene_d435'], remappings=[], ), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/hardware.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/presence.launch.py'])), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/motion_planning.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/follow_trajectory.launch.py'])) ])
def test_this_launch_file_path_methods(): """Test the methods of the ThisLaunchFileDir class.""" tlfp = ThisLaunchFileDir() lc = LaunchContext() with pytest.raises(SubstitutionFailure): tlfp.perform(lc) lc.extend_locals({'current_launch_file_directory': 'foo'}) assert tlfp.perform(lc) == 'foo'
def generate_launch_description(): return LaunchDescription([ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/hardware.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/presence.launch.py'])), ])
def generate_launch_description(): return LaunchDescription([ LogInfo(msg=[ 'Including launch file located at: ', ThisLaunchFileDir(), '/nodes.launch.py' ]), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/nodes.launch.py'])), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/actor_detection.launch.py']) ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/heading_estimation.launch.py']) ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/motion_forecasting.launch.py']) ) ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rplidar_s1_tcp.launch.py'])), Node( package='rviz2', node_executable='rviz2', output='screen', arguments=['-d', [ThisLaunchFileDir(), '/../rviz/rplidar.rviz']], ) ])
def generate_launch_description(): """Launch the example.launch.py launch file.""" return LaunchDescription([ LogInfo(msg=[ 'Including launch file located at: ', ThisLaunchFileDir(), '/example.launch.py' ]), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/example.launch.py']), launch_arguments={'node_prefix': 'FOO'}.items(), ), ])
def generate_launch_description(): return LaunchDescription([ LogInfo(msg=['Execute two launch files!!']), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/pub.launch.py']), launch_arguments={'ns': 'new_examples'}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/sub.launch.py']), launch_arguments={'ns': 'new_examples'}.items(), ), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), "/start_turtlesim_dgm.launch.py"])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), "/start_target_publisher.launch.py"])), Node( package="dg_tutorial_with_turtlesim", node_executable="sequencer", output="screen", prefix=['xterm -hold -e'], ), ])
def generate_launch_description(): params_file = LaunchConfiguration( 'params', default=[ThisLaunchFileDir(), '/launch_params.yaml']) # make sure the dbc file gets installed with the launch file dbc_file_path = get_package_share_directory('raptor_dbw_can') + \ '/launch/New_Eagle_DBW_3.4.dbc' return LaunchDescription( [ Node( package='raptor_dbw_can', executable='raptor_dbw_can_node', output='screen', namespace='raptor_dbw_interface', parameters=[ {'dbw_dbc_file': dbc_file_path}, params_file ], ), Node( package='kvaser_interface', executable='kvaser_can_bridge', output='screen', namespace='raptor_dbw_interface', parameters=[params_file]), ])
def generate_launch_description(): turtlebot3_cartographer_prefix = get_package_share_directory('turtlebot3_cartographer') turtlebot3_cartographer_launch_dir = os.path.join(turtlebot3_cartographer_prefix, 'launch') use_sim_time = LaunchConfiguration('use_sim_time', default='true') cartographer_occupancy_grid_dir = LaunchConfiguration('cartographer_occupancy_grid', default=turtlebot3_cartographer_launch_dir) cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join( turtlebot3_cartographer_prefix, 'config')) configuration_basename = LaunchConfiguration('configuration_basename', default='turtlebot3_lds_2d.lua') resolution = LaunchConfiguration('resolution', default='0.05') publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0') return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/start_cartographer.launch.py']), launch_arguments={ 'use_sim_time': use_sim_time, 'cartographer_occupancy_grid_dir': cartographer_occupancy_grid_dir, 'cartographer_config_dir': cartographer_config_dir, 'configuration_basename': configuration_basename, 'resolution': resolution, 'publish_period_sec': publish_period_sec }.items() ), Node( package='wall_follower', executable='wall_follower', name='wall_follower' ), ])
def generate_launch_description(): params1 = duplicate_params(rs_launch.configurable_parameters, '1') params2 = duplicate_params(rs_launch.configurable_parameters, '2') return LaunchDescription( rs_launch.declare_configurable_parameters(params1) + rs_launch.declare_configurable_parameters(params2) + [ IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rs_launch.py']), launch_arguments=set_configurable_parameters(params1).items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rs_launch.py']), launch_arguments=set_configurable_parameters(params2).items(), ), ])
def generate_launch_description(): ip = launch_ros.actions.Node( package='system_status', executable='system_status', output='both', # "screen", "log" or "both" name='system_status', ) robot = IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/robot.launch.py']), ) watchdog = launch_ros.actions.Node( package='robot_spawner_pkg', executable='watchdog', namespace=utils.get_robot_name('robot'), ) # Create the launch description and populate ld = LaunchDescription() ld.add_action(ip) ld.add_action(robot) ld.add_action(watchdog) return ld
def generate_launch_description(): teleop_keyboard = IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/teleop_keyboard.launch.py'])) data_root = DeclareLaunchArgument( 'data_root', default_value="/workspace/src/jetbot_ros/data/datasets") data_path = DeclareLaunchArgument( 'data_path', default_value=f"{datetime.now().strftime('%Y%m%d-%H%M%S')}") data_collection = Node(package='jetbot_ros', node_executable='data_collection', parameters=[ { "data_path": [ LaunchConfiguration('data_root'), os.path.sep, LaunchConfiguration('data_path') ] }, ], output='screen', emulate_tty=True) return LaunchDescription( [teleop_keyboard, data_root, data_path, data_collection])
def generate_launch_description(): params_file = LaunchConfiguration( 'params', default=[ThisLaunchFileDir(), '/launch_params.yaml']) # make sure the dbc file gets installed with the launch file dbc_file_path = get_package_share_directory('raptor_dbw_can') + \ "/launch/New_Eagle_DBW_3.3.388.dbc" return LaunchDescription([ Node( package='raptor_dbw_can', executable='raptor_dbw_can_node', output='screen', namespace='raptor_dbw_interface', parameters=[{ "dbw_dbc_file": dbc_file_path }], remappings=[ ('/raptor_dbw_interface/can_rx', '/can_rx_tx/can_tx'), ('/raptor_dbw_interface/can_tx', '/can_rx_tx/can_rx'), ], ), LifecycleNode(package='kvaser_interface', node_executable='kvaser_can_bridge', node_name="kvaser_interface", output='screen', namespace='', parameters=[params_file]), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/ros2_wrapper.launch.py']) ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/vision_pipeline.launch.py']) ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/mapping_pipeline.launch.py']) ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/planning_pipeline.launch.py']) ) ])
def generate_launch_description(): # Declare arguments declared_arguments = [] declared_arguments.append( DeclareLaunchArgument( "prefix", default_value='""', description="Prefix of the joint names, useful for \ multi-robot setup. If changed than also joint names in the controllers' configuration \ have to be updated.", )) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", default_value="true", description= "Start robot with fake hardware mirroring command to its states.", )) declared_arguments.append( DeclareLaunchArgument( "fake_sensor_commands", default_value="false", description= "Enable fake command interfaces for sensors used for simple simulations. \ Used only if 'use_fake_hardware' parameter is true.", )) declared_arguments.append( DeclareLaunchArgument("slowdown", default_value="3.0", description="Slowdown factor of the RRbot.")) declared_arguments.append( DeclareLaunchArgument( "robot_controller", default_value="forward_position_controller", description="Robot controller to start.", )) # Initialize Arguments prefix = LaunchConfiguration("prefix") use_fake_hardware = LaunchConfiguration("use_fake_hardware") fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") slowdown = LaunchConfiguration("slowdown") robot_controller = LaunchConfiguration("robot_controller") base_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), "/rrbot.launch.py"]), launch_arguments={ "controllers_file": "rrbot_multi_interface_forward_controllers.yaml", "description_file": "rrbot_system_multi_interface.urdf.xacro", "prefix": prefix, "use_fake_hardware": use_fake_hardware, "fake_sensor_commands": fake_sensor_commands, "slowdown": slowdown, "robot_controller": robot_controller, }.items(), ) return LaunchDescription(declared_arguments + [base_launch])
def generate_launch_description(): # Declare arguments declared_arguments = [] declared_arguments.append( DeclareLaunchArgument( "robot_ip", description="IP address by which the robot can be reached.", ) ) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", default_value="false", description="Start robot with fake hardware mirroring command to its states.", ) ) declared_arguments.append( DeclareLaunchArgument( "fake_sensor_commands", default_value="false", description="Enable fake command interfaces for sensors used for simple simulations. \ Used only if 'use_fake_hardware' parameter is true.", ) ) declared_arguments.append( DeclareLaunchArgument( "initial_joint_controller", default_value="joint_trajectory_controller", description="Initially loaded robot controller.", ) ) declared_arguments.append( DeclareLaunchArgument( "activate_joint_controller", default_value="true", description="Activate loaded joint controller.", ) ) # Initialize Arguments robot_ip = LaunchConfiguration("robot_ip") use_fake_hardware = LaunchConfiguration("use_fake_hardware") fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") initial_joint_controller = LaunchConfiguration("initial_joint_controller") activate_joint_controller = LaunchConfiguration("activate_joint_controller") base_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]), launch_arguments={ "ur_type": "ur5", "robot_ip": robot_ip, "use_fake_hardware": use_fake_hardware, "fake_sensor_commands": fake_sensor_commands, "initial_joint_controller": initial_joint_controller, "activate_joint_controller": activate_joint_controller, }.items(), ) return LaunchDescription(declared_arguments + [base_launch])
def generate_launch_description(): """Launch the example.launch.py launch file.""" return LaunchDescription([ launch.actions.DeclareLaunchArgument( 'image1', default_value='bar.png', description='image arg that overlaps with included arg', ), LogInfo(msg=[ 'Including launch file located at: ', ThisLaunchFileDir(), '/example.launch.py' ]), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/example.launch.py']), launch_arguments={'node_name': 'bar'}.items(), ), ])
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='false') turtlebot3_cartographer_prefix = get_package_share_directory('turtlebot3_cartographer') cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join(turtlebot3_cartographer_prefix, 'config')) configuration_basename = LaunchConfiguration('configuration_basename', default='turtlebot3_lds_2d.lua') resolution = LaunchConfiguration('resolution', default='0.05') publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0') rviz_config_dir = os.path.join(get_package_share_directory('turtlebot3_cartographer'), 'rviz', 'tb3_cartographer.rviz') return LaunchDescription([ DeclareLaunchArgument( 'cartographer_config_dir', default_value=cartographer_config_dir, description='Full path to config file to load'), DeclareLaunchArgument( 'configuration_basename', default_value=configuration_basename, description='Name of lua file for cartographer'), DeclareLaunchArgument( 'use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'), Node( package='cartographer_ros', node_executable='cartographer_node', node_name='cartographer_node', output='screen', parameters=[{'use_sim_time': use_sim_time}], arguments=['-configuration_directory', cartographer_config_dir, '-configuration_basename', configuration_basename]), DeclareLaunchArgument( 'resolution', default_value=resolution, description='Resolution of a grid cell in the published occupancy grid'), DeclareLaunchArgument( 'publish_period_sec', default_value=publish_period_sec, description='OccupancyGrid publishing period'), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/occupancy_grid.launch.py']), launch_arguments={'use_sim_time': use_sim_time, 'resolution': resolution, 'publish_period_sec': publish_period_sec}.items(), ), Node( package='rviz2', node_executable='rviz2', node_name='rviz2', arguments=['-d', rviz_config_dir], parameters=[{'use_sim_time': use_sim_time}], output='screen'), ])
def generate_launch_description(): return LaunchDescription([ Node(package=pkg, executable='main', name='main'), Node(package='rviz2', executable='rviz2', name=AnonName('rviz2'), arguments=['-d', Join([ThisLaunchFileDir(), 'main.rviz'])], output={'both': 'log'}) ])
def generate_launch_description(): return LaunchDescription( rs_launch.declare_configurable_parameters(local_parameters) + [ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_multi_camera_launch.py']), launch_arguments=rs_launch.set_configurable_parameters( local_parameters).items(), ), ])
def generate_launch_description(): return LaunchDescription([ DeclareLaunchArgument('gui', default_value='true', description='Set to "false" to run headless.'), DeclareLaunchArgument( 'server', default_value='true', description='Set to "false" not to run gzserver.'), IncludeLaunchDescription(PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/gzserver.launch.py']), condition=IfCondition( LaunchConfiguration('server'))), IncludeLaunchDescription(PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/gzclient.launch.py']), condition=IfCondition( LaunchConfiguration('gui'))), ])
def generate_launch_description(): ld = LaunchDescription() # environment variables DRONE_DEVICE_ID = os.getenv('DRONE_DEVICE_ID') # arguments ld.add_action( DeclareLaunchArgument("rplidar_mode", default_value="outdoor")) ld.add_action( DeclareLaunchArgument("serial_port", default_value="/dev/rplidar")) # mode select for rplidar # ---------------------- # Sensitivity: optimized for longer ranger, better sensitivity but weak environment elimination # Boost: optimized for sample rate # Stability: for light elimination performance, but shorter range and lower sample rate rplidar_mode = PythonExpression([ '"Stability" if "outdoor" == "', LaunchConfiguration("rplidar_mode"), '" else "Sensitivity"' ]) #namespace declarations namespace = DRONE_DEVICE_ID # frame names fcu_frame = DRONE_DEVICE_ID + "/fcu" # the same definition is in static_tf_launch.py file rplidar_frame = DRONE_DEVICE_ID + "/rplidar" # the same definition is in static_tf_launch.py file garmin_frame = DRONE_DEVICE_ID + "/garmin" # the same definition is in static_tf_launch.py file ld.add_action( Node( namespace=namespace, package='rplidar_ros2', executable='rplidar', name='rplidar', parameters=[{ 'serial_port': LaunchConfiguration("serial_port"), 'serial_baudrate': 256000, # A3 'frame_id': rplidar_frame, 'inverted': False, 'angle_compensate': True, 'scan_mode': rplidar_mode, }], output='screen', ), ), ld.add_action( IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/static_tf_launch.py'])), ), return ld