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