def generate_launch_description():
pkgsPath = FindPackageShare(["detect_object", "motion_control"])
use_sim_time = True
container = ComposableNodeContainer(
name='ComponentManager',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(package='detect_object',
plugin='detect_object::DetectLane',
parameters=[
os.path.join(pkgsPath.find("detect_object"),
"config", "component",
"detect_lane.yaml"), {
"use_sim_time": use_sim_time
}
],
name='detect_lane'),
ComposableNode(package='motion_control',
plugin='motion_control::LaneControl',
parameters=[
os.path.join(pkgsPath.find("motion_control"),
"config", "component",
"lane_control.yaml"), {
"use_sim_time": use_sim_time
}
],
name='lane_control')
],
output='screen',
)
return LaunchDescription([container])
def generate_launch_description():
pkgsPath = FindPackageShare(["cam_tools"])
container = ComposableNodeContainer(
name='ComponentManager',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='cam_tools',
plugin='cam_tools::CamCalibration',
parameters=[
os.path.join(
pkgsPath.find("cam_tools"),"config","cam_calibration_component.yaml"),
],
name='cam_calibration')
],
output='screen',
)
return LaunchDescription([container])
