def generate_test_description(): # Get (valid) parameters using the demo config file servo_yaml = load_yaml('moveit_servo', 'config/panda_simulated_config.yaml') servo_params = {'moveit_servo': servo_yaml} param_node_valid = Node( package='moveit_servo', executable=PathJoinSubstitution([ LaunchConfiguration('test_binary_dir'), 'test_servo_parameters_node' ]), output='screen', name='valid_parameter_load', parameters=[servo_params, { 'expect_valid_params': True }]) param_gtest = launch_testing.actions.GTest(path=PathJoinSubstitution( [LaunchConfiguration('test_binary_dir'), 'test_servo_parameters']), timeout=4000.0, output='screen') return LaunchDescription([ launch.actions.DeclareLaunchArgument( name='test_binary_dir', description='Binary directory of package ' 'containing test executables'), param_node_valid, param_gtest, launch_testing.actions.ReadyToTest() ]), { 'param_node_valid': param_node_valid, 'param_gtest': param_gtest }
def generate_launch_description(): log_level = 'info' cmd_vel_mux_config = PathJoinSubstitution([ FindPackageShare('rocket_kaya_bringup'), 'config', 'rocket_kaya_cmd_vel_mux.yaml', ]) base_launch_path = PathJoinSubstitution([ FindPackageShare('rocket_kaya_controller'), 'launch', 'rocket_kaya_controller.launch.py', ]) cmd_vel_mux = Node( package='twist_mux', executable='twist_mux', name='cmd_vel_mux', # remappings=[('/cmd_vel_out', '/cmd_vel')], parameters=[cmd_vel_mux_config], output='both', arguments=['--ros-args', '--log-level', log_level], emulate_tty=True, ) base_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource(base_launch_path)) return LaunchDescription([ cmd_vel_mux, base_launch, ])
def generate_launch_description(): gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource( [PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])] ), launch_arguments={"verbose": "false"}.items(), ) # Get URDF via xacro robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( [ FindPackageShare("ar3_description"), "urdf", "ar3_system_position_only.urdf.xacro", ] ), " use_sim:=true", ] ) robot_description = {"robot_description": robot_description_content} node_robot_state_publisher = Node( package="robot_state_publisher", executable="robot_state_publisher", output="screen", parameters=[robot_description], ) spawn_entity = Node( package="gazebo_ros", executable="spawn_entity.py", arguments=["-topic", "robot_description", "-entity", "ar3_system_position"], output="screen", ) spawn_controller = Node( package="controller_manager", executable="spawner", arguments=["joint_state_broadcaster"], output="screen", ) return LaunchDescription( [ gazebo, node_robot_state_publisher, spawn_entity, spawn_controller, ] )
def generate_launch_description(): robot_description_content = Command([ PathJoinSubstitution([FindExecutable(name='xacro')]), " ", PathJoinSubstitution([ FindPackageShare('gazebo_ros2_control_demos'), 'urdf', 'test_gripper_mimic_joint.xacro.urdf' ]), ]) robot_description = {"robot_description": robot_description_content} node_robot_state_publisher = Node(package='robot_state_publisher', executable='robot_state_publisher', output='screen', parameters=[robot_description]) gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource( [FindPackageShare("gazebo_ros"), "/launch", "/gazebo.launch.py"]), ) spawn_entity = Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-topic', 'robot_description', '-entity', 'gripper'], output='screen') load_joint_state_controller = ExecuteProcess(cmd=[ 'ros2', 'control', 'load_controller', '--set-state', 'start', 'joint_state_broadcaster' ], output='screen') load_gripper_controller = ExecuteProcess(cmd=[ 'ros2', 'control', 'load_controller', '--set-state', 'start', 'gripper_controller' ], output='screen') return LaunchDescription([ RegisterEventHandler(event_handler=OnProcessExit( target_action=spawn_entity, on_exit=[load_joint_state_controller], )), RegisterEventHandler(event_handler=OnProcessExit( target_action=load_joint_state_controller, on_exit=[load_gripper_controller], )), gazebo, node_robot_state_publisher, spawn_entity, ])
def generate_launch_description(): log_level = 'info' camera_config = PathJoinSubstitution([ FindPackageShare("rocket_kaya_vision"), "config", "vision_pipeline_d435i.yaml", ]) depth2laser_config = PathJoinSubstitution([ FindPackageShare("rocket_kaya_vision"), "config", "vision_pipeline_depth2laser.yaml", ]) rocket_kaya_camera = ComposableNode( package="realsense2_camera", plugin='realsense2_camera::RealSenseNodeFactory', name="camera", namespace="vision", parameters=[camera_config], ) depth2laser = ComposableNode( package="depthimage_to_laserscan", plugin='depthimage_to_laserscan::DepthImageToLaserScanROS', name="depth2laser", namespace="vision", parameters=[depth2laser_config], remappings=[("/vision/depth", "/vision/aligned_depth_to_color/image_raw"), ("/vision/depth_camera_info", "/vision/aligned_depth_to_color/camera_info")], ) """Generate launch description with multiple components.""" vision_pipeline = ComposableNodeContainer( name='vision_pipeline', namespace='vision', package='rclcpp_components', executable='component_container', composable_node_descriptions=[ rocket_kaya_camera, depth2laser, ], output="both", arguments=['--ros-args', '--log-level', log_level], emulate_tty=True, ) return launch.LaunchDescription([vision_pipeline])
def generate_launch_description(): pkg_gazebo_ros = get_package_share_directory("gazebo_ros") # "warehouse.world". pkg_dir = get_package_share_directory('robot_description') os.environ["GAZEBO_MODEL_PATH"] = os.path.join(pkg_dir, "model") #os.environ["GAZEBO_MODEL_PATH"] = "/home/kong/dev_ws/src/robot_description/model" # world = os.path.join(pkg_dir, 'warehouse.world') world = os.path.join(pkg_dir, 'turtlebot3.world') gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')), ) use_sim_time = LaunchConfiguration('use_sim_time', default='true') # GAZEBO_MODEL_PATH has to be correctly set for Gazebo to be able to find the model spawn_entity = Node( package='gazebo_ros', executable='spawn_entity.py', arguments=['-entity', 'demo', "-topic", "robot_description"], output='screen') # robot_pub = Node( package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[{ 'use_sim_time': use_sim_time }, { 'robot_description': Command([ PathJoinSubstitution( [FindPackagePrefix('xacro'), "bin", "xacro"]), ' ', PathJoinSubstitution([ get_package_share_directory('robot_description'), 'my_robot.xacro' ]), ]) }], ) # gazebo launch return LaunchDescription([ DeclareLaunchArgument("world", default_value=world, description="world description file name"), gazebo, robot_pub, spawn_entity, ])
def generate_launch_description(): log_level = 'info' rocket_kaya_vision_config = PathJoinSubstitution( [ FindPackageShare("rocket_kaya_vision"), "config", "d435i.yaml", ] ) rocket_kaya_camera = Node( package="realsense2_camera", executable="realsense2_camera_node", namespace="camera", parameters=[rocket_kaya_vision_config], output="both", arguments=['--ros-args', '--log-level', log_level], emulate_tty=True, ) return LaunchDescription( [ rocket_kaya_camera, ] )
def generate_launch_description() -> LaunchDescription: # Declare all launch arguments declared_arguments = generate_declared_arguments() # Get substitution for all arguments rviz_config = LaunchConfiguration("rviz_config") use_sim_time = LaunchConfiguration("use_sim_time") log_level = LaunchConfiguration("log_level") # List of included launch descriptions launch_descriptions = [ # Launch move_group of MoveIt 2 IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution( [ FindPackageShare("panda_moveit_config"), "launch", "move_group.launch.py", ] ) ), launch_arguments=[ ("ros2_control_plugin", "fake"), ("ros2_control_command_interface", "position"), ("rviz_config", rviz_config), ("use_sim_time", use_sim_time), ("log_level", log_level), ], ), ] return LaunchDescription(declared_arguments + launch_descriptions)
def generate_launch_description(): x = LaunchConfiguration('x', default='0.0') y = LaunchConfiguration('y', default='0.0') z = LaunchConfiguration('z', default='1.0') urdf_file = PathJoinSubstitution( [FindPackageShare('rexrov2_description'), 'robots', 'rexrov2_default.xacro']) gazebo = ExecuteProcess( cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'], output='screen') rsp = Node( package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[{ 'robot_description': Command([ ExecutableInPackage(package='xacro', executable='xacro'), ' ', urdf_file ]) }]) spawn_entity = Node( package='gazebo_ros', executable='spawn_entity.py', arguments=[ '-entity', 'rexrov2', '-topic', '/robot_description', '-x', x, '-y', y, '-z', z], output='screen') return LaunchDescription([ gazebo, rsp, spawn_entity, ])
def get_shared_file_substitution(package_name: str, *path: List[str]) -> SomeSubstitutionsType: """Return a Substitution that resolves to the path to the given shared file.""" return PathJoinSubstitution([ FindPackageShare(package=package_name), *path, ])
def generate_launch_description(): return LaunchDescription([ DeclareLaunchArgument("robot_name", default_value="robot.urdf.xacro"), Node( package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[{ 'robot_description': Command([ 'xacro', ' ', PathJoinSubstitution( [get_package_share_directory('abb_gofa_description'), 'urdf', LaunchConfiguration('robot_name')] ) ]), }] ), Node( package='joint_state_publisher_gui', executable='joint_state_publisher_gui', name='joint_state_publisher', output='screen' ) ])
def generate_launch_description(): urdf_path = PathJoinSubstitution([ FindPackageShare('kobuki_description'), 'urdf', 'kobuki_standalone.urdf.xacro' ]) rviz_config_path = PathJoinSubstitution( [FindPackageShare('kobuki_description'), 'rviz', 'model.rviz']) return LaunchDescription([ DeclareLaunchArgument(name='urdf', default_value=urdf_path, description='URDF path'), DeclareLaunchArgument(name='use_sim_time', default_value='false', description='Use simulation time'), DeclareLaunchArgument(name='rviz', default_value='false', description='Run rviz'), Node(package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[{ 'use_sim_time': LaunchConfiguration('use_sim_time'), 'robot_description': Command(['xacro ', LaunchConfiguration('urdf')]) }]), Node(package='joint_state_publisher', executable='joint_state_publisher', name='joint_state_publisher', parameters=[{ 'use_sim_time': LaunchConfiguration('use_sim_time') }]), Node(package='rviz2', executable='rviz2', name='rviz2', output='screen', arguments=['-d', rviz_config_path], condition=IfCondition(LaunchConfiguration('rviz')), parameters=[{ 'use_sim_time': LaunchConfiguration('use_sim_time') }]), ])
def find(package, file_name, file_dir=None): ''' Retrieve the path to a file within its share directory. * package -- name of the package, if None then assumes an absolute file path * file_name -- name of the file to find * file_dir -- package directory containing the file (if None, will search the file) If any argument is neither string nore None, assumes use of parameters and returns the corresponding Substitution ''' # deal with non-resolvable package - cannot find anything in there if not regular_path_elem(package): return PathJoinSubstitution([ entry for entry in (package, file_dir, file_name) if entry is not None ]) # resolve package package_dir = package and get_package_share_directory(package) or None # deal with other launch arguments if not regular_path_elem(file_name) or not regular_path_elem(file_dir): return PathJoinSubstitution([ entry for entry in (package_dir, file_dir, file_name) if entry is not None ]) # below this point all arguments are strings or None if package_dir == None: return file_name # do not look for it, it's (said to be) there if file_dir is not None: return join(package_dir, file_dir, file_name) # look for it from os import walk for root, dirs, files in walk(package_dir, topdown=False): if file_name in files: return join(package_dir, root, file_name) # not there raise Exception('Could not find file {} in package {}'.format( file_name, package))
def generate_launch_description() -> launch.LaunchDescription: """ Launch file to launch rqt input device. :argument: use_sim_time, whether the node should use the simulation time as published on the /clock topic. :argument: ping_safety_node, whether the node should regularly send an Alive message for the safety node. """ layout_file = [ PathJoinSubstitution([ get_package_share_directory("march_rqt_input_device"), "config", LaunchConfiguration("layout"), ]), ".json", ] return launch.LaunchDescription([ DeclareLaunchArgument( name="node_prefix", default_value=[EnvironmentVariable("USER"), "_"], description="Prefix for node names", ), DeclareLaunchArgument( name="ping_safety_node", default_value="True", description="Whether to ping the safety node", ), DeclareLaunchArgument( name="use_sim_time", default_value="False", description="Whether to use simulation time", ), DeclareLaunchArgument( name="layout", default_value="training", description= "Layout .json file to use. Must be in the config directory.", ), Node( package="march_rqt_input_device", executable="input_device", output="screen", name="input_device", namespace="march", parameters=[ { "use_sim_time": LaunchConfiguration("use_sim_time") }, { "ping_safety_node": LaunchConfiguration("ping_safety_node") }, { "layout_file": layout_file }, ], ), ])
def generate_launch_description(): robot_description_content = Command([ PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution([ FindPackageShare("fusion2urdf_description"), "urdf", "fusion2urdf.xacro", ]), ]) robot_description = {"robot_description": robot_description_content} return LaunchDescription([ Node(package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[robot_description]), ])
def generate_launch_description(): return LaunchDescription([ Node( package="laser_filters", executable="scan_to_scan_filter_chain", parameters=[ PathJoinSubstitution([ get_package_share_directory("laser_filters"), "examples", "multiple_filters_example.yaml", ])], ) ])
def generate_launch_description(): # Initialize launch description launch_description = LaunchDescription() # Declare arguments launch_description.add_action( DeclareLaunchArgument(name='xacro_file', description='Target xacro file.')) launch_description.add_action( DeclareLaunchArgument(name='rviz_config', description='Rviz config file.', default_value=PathJoinSubstitution([ FindPackageShare('xacro_live'), 'rviz/view_robot.rviz' ]))) # Add nodes launch_description.add_action( Node(package='xacro_live', executable='xacro_live', name='xacro_live', output='screen', parameters=[{ 'xacro_file': LaunchConfiguration('xacro_file') }])) launch_description.add_action( Node(package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[{ 'robot_description': Command([ ExecutableInPackage(package='xacro', executable='xacro'), ' ', LaunchConfiguration('xacro_file') ]) }])) launch_description.add_action( Node( package='joint_state_publisher_gui', executable='joint_state_publisher_gui', name='joint_state_publisher_gui', output='screen', ), ) launch_description.add_action( Node(package='rviz2', executable='rviz2', name='rviz', output='screen', arguments=['-d', LaunchConfiguration('rviz_config')]), ) return launch_description
def generate_test_description(): share_dir = FindPackageShare('diffbot2_description') spawn_launch_path = PathJoinSubstitution( [share_dir, 'launch', 'spawn_robot.launch.py']) spawn_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource(spawn_launch_path), launch_arguments={'namespace': 'ns'}.items(), ) return (launch.LaunchDescription([ spawn_launch, launch_testing.actions.ReadyToTest(), ]), { 'spawn_launch': spawn_launch })
def generate_launch_description(): rocket_kaya_joy_config = PathJoinSubstitution([ FindPackageShare("rocket_kaya_teleop"), "config", "rocket_kaya_joy.yaml", ]) rocket_kaya_teleop_config = PathJoinSubstitution([ FindPackageShare("rocket_kaya_teleop"), "config", "rocket_kaya_teleop.yaml", ]) rocket_kaya_joy = Node( package="joy", # namespace="rocket_kaya", executable="joy_node", name="rocket_kaya_joy", parameters=[rocket_kaya_joy_config], output="both", ) rocket_kaya_teleop = Node( package="joy_teleop", # namespace="rocket_kaya", executable="joy_teleop", name="rocket_kaya_teleop", parameters=[rocket_kaya_teleop_config], output="both", ) return LaunchDescription([ rocket_kaya_joy, rocket_kaya_teleop, ])
def generate_launch_description() -> LaunchDescription: # Declare all launch arguments declared_arguments = generate_declared_arguments() # Get substitution for all arguments robot_type = LaunchConfiguration("robot_type") rviz_config = LaunchConfiguration("rviz_config") use_sim_time = LaunchConfiguration("use_sim_time") ign_verbosity = LaunchConfiguration("ign_verbosity") log_level = LaunchConfiguration("log_level") # List of included launch descriptions launch_descriptions = [ # Launch world with robot (configured for this example) IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution([ FindPackageShare("ign_moveit2_examples"), "launch", "default.launch.py", ])), launch_arguments=[ ("world_type", "follow_target"), ("robot_type", robot_type), ("rviz_config", rviz_config), ("use_sim_time", use_sim_time), ("ign_verbosity", ign_verbosity), ("log_level", log_level), ], ), ] # List of nodes to be launched nodes = [ # Run the example node (Python) Node( package="ign_moveit2_examples", executable="ex_follow_target.py", output="log", arguments=["--ros-args", "--log-level", log_level], parameters=[{ "use_sim_time": use_sim_time }], ), ] return LaunchDescription(declared_arguments + launch_descriptions + nodes)
def generate_launch_description(): position_goals = PathJoinSubstitution([ FindPackageShare("ur_robot_driver"), "config", "test_goal_publishers_config.yaml" ]) return LaunchDescription([ Node( package="ros2_controllers_test_nodes", executable="publisher_joint_trajectory_controller", name="publisher_scaled_joint_trajectory_controller", parameters=[position_goals], output="screen", ) ])
def generate_launch_description(): return LaunchDescription([ Node(package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[{ 'robot_description': Command([ 'xacro', ' ', PathJoinSubstitution([ get_package_share_directory('abb_gofa_description'), 'urdf', 'robot.urdf.xacro' ]) ]), }]) ])
def generate_launch_description() -> LaunchDescription: # Declare all launch arguments declared_arguments = generate_declared_arguments() # Get substitution for all arguments world = LaunchConfiguration("world") use_sim_time = LaunchConfiguration("use_sim_time") ign_verbosity = LaunchConfiguration("ign_verbosity") log_level = LaunchConfiguration("log_level") # List of included launch descriptions launch_descriptions = [ # Launch Ignition Gazebo IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution( [ FindPackageShare("ros_ign_gazebo"), "launch", "ign_gazebo.launch.py", ] ) ), launch_arguments=[("ign_args", [world, " -r -v ", ign_verbosity])], ), ] # List of nodes to be launched nodes = [ # ros_ign_bridge (clock -> ROS 2) Node( package="ros_ign_bridge", executable="parameter_bridge", output="log", arguments=[ "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock", "--ros-args", "--log-level", log_level, ], parameters=[{"use_sim_time": use_sim_time}], ), ] return LaunchDescription(declared_arguments + launch_descriptions + nodes)
def generate_test_description(): diffbot2_launch = \ PythonLaunchDescriptionSource(PathJoinSubstitution( [FindPackageShare('diffbot2_simulation'), 'launch', 'diffbot2.launch.py']), ) return ( LaunchDescription([ IncludeLaunchDescription( diffbot2_launch, launch_arguments={'namespace': 'ns', 'server_only': 'True'}.items()), ReadyToTest(), ]), # Test Args {'diffbot2_launch': diffbot2_launch} )
def generate_test_description(): share_dir = FindPackageShare('xacro_live') spawn_launch_path = PathJoinSubstitution( [share_dir, 'launch/xacro_live_view.launch.py']) xacro_file_path = str(Path(__file__).parent / 'urdf/robot.xacro') spawn_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource(spawn_launch_path), launch_arguments={'xacro_file': xacro_file_path}.items(), ) return (launch.LaunchDescription([ spawn_launch, TimerAction(period=5., actions=[ReadyToTest()]), ]), { 'spawn_launch': spawn_launch })
def generate_launch_description(): # Get rviz config rviz_config = PathJoinSubstitution( [FindPackageShare('diffbot2_description'), 'rviz/view_robot.rviz']) # OBS: do not add rviz2 as dependency because it is heavy return LaunchDescription([ DeclareLaunchArgument(name='namespace', default_value='', description='Node namespace'), Node( package='rviz2', executable='rviz2', name='rviz', output='screen', namespace=LaunchConfiguration('namespace'), arguments=['-d', rviz_config], ) ])
def generate_launch_description(): velocity_goals = PathJoinSubstitution([ FindPackageShare("ur_bringup"), "config", "test_velocity_goal_publishers_config.yaml" ]) return LaunchDescription([ Node( package="ros2_control_test_nodes", executable="publisher_forward_position_controller", name="publisher_forward_velocity_controller", parameters=[velocity_goals], output={ "stdout": "screen", "stderr": "screen", }, ) ])
def generate_launch_description() -> launch.LaunchDescription: return launch.LaunchDescription([ DeclareLaunchArgument( "use_sim_time", default_value="False", description="Whether to use simulation time", ), DeclareLaunchArgument( name="perspective", default_value="full_monitor", description="Which perspective file to use.", ), Node( package="rqt_gui", executable="rqt_gui", namespace="march/monitor", output="screen", arguments=[ "--perspective-file", [ PathJoinSubstitution([ get_package_share_directory("march_monitor"), "config", LaunchConfiguration("perspective"), ]), ".perspective", ], ], parameters=[{ "use_sim_time": LaunchConfiguration("use_sim_time") }], ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join( get_package_share_directory("march_rqt_robot_monitor"), "launch", "march_rqt_robot_monitor.launch.py", )), launch_arguments=[("rqt", "false")], ), ])
def generate_launch_description(): ld = LaunchDescription() # Set env var to print messages to stdout immediately arg = SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1') ld.add_action(arg) driver_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_path=PathJoinSubstitution([ FindPackageShare('bluespace_ai_xsens_mti_driver'), 'launch', 'xsens_mti_node.launch.py' ]), )) ld.add_action(driver_launch) # Rviz2 node rviz_config_path = os.path.join( get_package_share_directory('bluespace_ai_xsens_mti_driver'), 'rviz', 'display.rviz') rviz2_node = Node( package='rviz2', executable='rviz2', name='xsens_rviz2', output='screen', arguments=[["-d"], [rviz_config_path]], ) ld.add_action(rviz2_node) # Robot State Publisher node urdf_file_path = os.path.join( get_package_share_directory('bluespace_ai_xsens_mti_driver'), 'urdf', 'MTi_6xx.urdf') state_publisher_node = Node( package='robot_state_publisher', executable='robot_state_publisher', name='xsens_state_publisher', output='screen', arguments=[urdf_file_path], ) ld.add_action(state_publisher_node) return ld
def generate_launch_description(): position_goals = PathJoinSubstitution([ FindPackageShare("ros2_control_demo_bringup"), "config", "rrbot_joint_trajectory_publisher.yaml", ]) return LaunchDescription([ Node( package="ros2_control_test_nodes", executable="publisher_joint_trajectory_controller", name="publisher_joint_trajectory_controller", parameters=[position_goals], output={ "stdout": "screen", "stderr": "screen", }, ) ])