def main(argv=sys.argv[1:]):
"""Main."""
ld = LaunchDescription([
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='talker',
output='screen',
remappings=[('chatter', 'my_chatter')]),
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='listener',
output='screen',
remappings=[('chatter', 'my_chatter')]),
])
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
# ls = LaunchService(debug=True)
ls = LaunchService()
ls.include_launch_description(
get_default_launch_description(prefix_output_with_name=False))
ls.include_launch_description(ld)
return ls.run()
def generate_launch_description():
talker = launch_ros.actions.Node(
node_name='talker',
package='examples_rclcpp_minimal_publisher',
node_executable='publisher_lambda',
output='screen')
listener = launch_ros.actions.LifecycleNode(
node_name='listener',
package='examples_rclcpp_minimal_subscriber',
node_executable='subscriber_lambda',
output='screen')
configure_listener = launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(listener),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE))
activate_listener = launch.actions.EmitEvent(
event=launch_ros.events.lifecycle.ChangeState(
lifecycle_node_matcher=launch.events.matches_action(listener),
transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE))
reg_event_handler_listener_configured = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=listener,
goal_state='inactive',
entities=[
launch.actions.LogInfo(
msg="Node listener configured, activating"),
activate_listener
]))
reg_event_handler_listener_active = launch.actions.RegisterEventHandler(
launch_ros.event_handlers.OnStateTransition(
target_lifecycle_node=listener,
goal_state='active',
entities=[
launch.actions.LogInfo(
msg="Node listener active, starting talker"), talker
]))
ld = LaunchDescription()
ld.add_action(reg_event_handler_listener_configured)
ld.add_action(reg_event_handler_listener_active)
ld.add_action(listener)
ld.add_action(configure_listener)
print(LaunchIntrospector().format_launch_description(ld))
return ld
def main(argv):
ld = generate_launch_description()
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
ls = LaunchService()
ls.include_launch_description(ld)
return ls.run()
def main(argv=sys.argv[1:]):
"""Main."""
ld = generate_launch_description()
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
ls = LaunchService()
ls.include_launch_description(get_default_launch_description())
ls.include_launch_description(ld)
return ls.run()
def generate_launch_description():
"""Main."""
ld = LaunchDescription([
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='talker',
output='screen',
remappings=[('chatter', 'my_chatter')]),
launch_ros.actions.Node(package='demo_nodes_cpp',
node_executable='listener',
output='screen',
remappings=[('chatter', 'my_chatter')]),
])
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
return ld
def main(argv=sys.argv[1:]):
"""Main."""
# Configure rotating logs.
launch.logging.launch_config.log_handler_factory = \
lambda path, encoding=None: launch.logging.handlers.RotatingFileHandler(
path, maxBytes=1024, backupCount=3, encoding=encoding)
# Any number of actions can optionally be given to the constructor of LaunchDescription.
# Or actions/entities can be added after creating the LaunchDescription.
user_env_var = 'USERNAME' if platform.system() == 'Windows' else 'USER'
ld = LaunchDescription([
launch.actions.LogInfo(msg='Hello World!'),
launch.actions.LogInfo(msg=(
'Is that you, ', launch.substitutions.EnvironmentVariable(name=user_env_var), '?'
)),
])
# Setup a custom event handler for all stdout/stderr from processes.
# Later, this will be a configurable, but always present, extension to the LaunchService.
def on_output(event: launch.Event) -> None:
for line in event.text.decode().splitlines():
print('[{}] {}'.format(
cast(launch.events.process.ProcessIO, event).process_name, line))
ld.add_action(launch.actions.RegisterEventHandler(launch.event_handlers.OnProcessIO(
# this is the action ^ and this, the event handler ^
on_stdout=on_output,
on_stderr=on_output,
)))
# Run whoami, and use its output to log the name of the user.
# Prefix just the whoami process with `time`.
ld.add_action(launch.actions.SetLaunchConfiguration('launch-prefix', 'time'))
# Run whoami, but keep handle to action to make a targeted event handler.
if platform.system() == 'Windows':
whoami_cmd = ['echo', '%USERNAME%']
else:
whoami_cmd = [launch.substitutions.FindExecutable(name='whoami')]
whoami_action = launch.actions.ExecuteProcess(
cmd=whoami_cmd,
shell=True
)
ld.add_action(whoami_action)
# Make event handler that uses the output.
ld.add_action(launch.actions.RegisterEventHandler(launch.event_handlers.OnProcessIO(
target_action=whoami_action,
# The output of `time` will be skipped since `time`'s output always goes to stderr.
on_stdout=lambda event: launch.actions.LogInfo(
msg="whoami says you are '{}'.".format(event.text.decode().strip())
),
)))
# Unset launch prefix to prevent other process from getting this setting.
ld.add_action(launch.actions.SetLaunchConfiguration('launch-prefix', ''))
# Run the counting program, with default options.
counter_action = launch.actions.ExecuteProcess(cmd=[sys.executable, '-u', './counter.py'])
ld.add_action(counter_action)
# Setup an event handler for just this process which will exit when `Counter: 4` is seen.
def counter_output_handler(event):
target_str = 'Counter: 4'
if target_str in event.text.decode():
return launch.actions.EmitEvent(event=launch.events.Shutdown(
reason="saw '{}' from '{}'".format(target_str, event.process_name)
))
ld.add_action(launch.actions.RegisterEventHandler(launch.event_handlers.OnProcessIO(
target_action=counter_action,
on_stdout=counter_output_handler,
on_stderr=counter_output_handler,
)))
# Run the counter a few more times, with various options.
ld.add_action(launch.actions.ExecuteProcess(
cmd=[sys.executable, '-u', './counter.py', '--ignore-sigint']
))
ld.add_action(launch.actions.ExecuteProcess(
cmd=[sys.executable, '-u', './counter.py', '--ignore-sigint', '--ignore-sigterm']
))
# Add our own message for when shutdown is requested.
ld.add_action(launch.actions.RegisterEventHandler(launch.event_handlers.OnShutdown(
on_shutdown=[launch.actions.LogInfo(msg=[
'Launch was asked to shutdown: ',
launch.substitutions.LocalSubstitution('event.reason'),
])],
)))
print('Starting introspection of launch description...')
print('')
print(LaunchIntrospector().format_launch_description(ld))
print('')
print('Starting launch of launch description...')
print('')
# ls = LaunchService(argv=argv, debug=True) # Use this instead to get more debug messages.
ls = LaunchService(argv=argv)
ls.include_launch_description(ld)
return ls.run()
def generate_launch_description():
joydev = LaunchConfiguration('joydev')
declare_joydev = DeclareLaunchArgument(
'joydev', default_value='/dev/input/js0',
description='Device file for JoyStick Controller'
)
declare_joyconfig = DeclareLaunchArgument(
'joyconfig', default_value='f710',
description='Keyconfig of joystick controllers: supported: f710, dualshock3'
)
declare_mouse = DeclareLaunchArgument(
'mouse', default_value="true",
description='Launch raspimouse node'
)
def func_get_joyconfig_file_name(context):
param_file = os.path.join(
get_package_share_directory('raspimouse_ros2_examples'),
'config',
'joy_' + context.launch_configurations['joyconfig'] + '.yml')
if os.path.exists(param_file):
return [SetLaunchConfiguration('joyconfig_filename', param_file)]
else:
return [LogInfo(msg=param_file + " is not exist.")]
get_joyconfig_file_name = OpaqueFunction(function=func_get_joyconfig_file_name)
joy_node = Node(
package='joy_linux',
executable='joy_linux_node',
parameters=[{'dev': joydev}]
)
joystick_control_node = Node(
package='raspimouse_ros2_examples',
executable='joystick_control.py',
parameters=[LaunchConfiguration('joyconfig_filename')]
)
def func_launch_mouse_node(context):
if context.launch_configurations['mouse'] == "true":
return [LifecycleNode(
name='raspimouse',
package='raspimouse', executable='raspimouse', output='screen',
parameters=[os.path.join(get_package_share_directory(
'raspimouse_ros2_examples'), 'config', 'mouse.yml')]
)]
mouse_node = OpaqueFunction(function=func_launch_mouse_node)
ld = LaunchDescription()
ld.add_action(declare_joydev)
ld.add_action(declare_joyconfig)
ld.add_action(declare_mouse)
ld.add_action(get_joyconfig_file_name)
ld.add_action(joy_node)
ld.add_action(joystick_control_node)
ld.add_action(mouse_node)
print(LaunchIntrospector().format_launch_description(ld))
return ld