def _function(self, context: launch.LaunchContext):
try:
rclpy.init(args=context.argv)
except RuntimeError as exc:
if 'rcl_init called while already initialized' in str(exc):
pass
raise
self.__launch_ros_node = rclpy.create_node('launch_ros')
context.extend_globals({
'ros_startup_action': self,
'launch_ros_node': self.__launch_ros_node
})
context.register_event_handler(
launch.event_handlers.OnShutdown(on_shutdown=self._shutdown, ))
self.__rclpy_spin_thread = threading.Thread(target=self._run)
self.__rclpy_spin_thread.start()
def get_ros_adapter(context: launch.LaunchContext):
"""
Get the ROS adapter managed by the given launch context.
If no adapter is found, one will be created.
This function is reentrant but concurrent calls on the
same `context` are not safe.
"""
if not hasattr(context.locals, 'ros_adapter'):
ros_adapter = ROSAdapter()
context.extend_globals({'ros_adapter': ros_adapter})
context.register_event_handler(
launch.event_handlers.OnShutdown(
on_shutdown=lambda *args, **kwargs: ros_adapter.shutdown()))
return context.locals.ros_adapter
