def generate_launch_description(): share_dir = get_package_share_directory('ros2_ouster') parameter_file = LaunchConfiguration('params_file') node_name = 'ouster_driver' params_declare = DeclareLaunchArgument( 'params_file', default_value=os.path.join(share_dir, 'params', 'os1.yaml'), description='FPath to the ROS2 parameters file to use.') driver_node = LifecycleNode( package='ros2_ouster', executable='ouster_driver', name=node_name, output='screen', emulate_tty=True, parameters=[parameter_file], namespace='/', ) configure_event = EmitEvent(event=ChangeState( lifecycle_node_matcher=matches_action(driver_node), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) activate_event = RegisterEventHandler( OnStateTransition( target_lifecycle_node=driver_node, goal_state='inactive', entities=[ LogInfo( msg="[LifecycleLaunch] Ouster driver node is activating."), EmitEvent(event=ChangeState( lifecycle_node_matcher=matches_action(driver_node), transition_id=lifecycle_msgs.msg.Transition. TRANSITION_ACTIVATE, )), ], )) # TODO make lifecycle transition to shutdown before SIGINT shutdown_event = RegisterEventHandler( OnShutdown(on_shutdown=[ EmitEvent(event=ChangeState( lifecycle_node_matcher=matches_node_name(node_name=node_name), transition_id=lifecycle_msgs.msg.Transition. TRANSITION_ACTIVE_SHUTDOWN, )), LogInfo(msg="[LifecycleLaunch] Ouster driver node is exiting."), ], )) return LaunchDescription([ params_declare, driver_node, activate_event, configure_event, shutdown_event, ])
def generate_launch_description(): share_dir = get_package_share_directory('serial_driver') node_name = 'serial_bridge_node' params_declare = DeclareLaunchArgument( 'params_file', default_value=os.path.join(share_dir, 'params', 'example.params.yaml'), description='File path to the ROS2 parameters file to use') bridge_node = LifecycleNode( package='serial_driver', executable='serial_bridge', name=node_name, namespace=TextSubstitution(text=''), parameters=[LaunchConfiguration('params_file')], output='screen', ) configure_event_handler = RegisterEventHandler( event_handler=OnProcessStart( target_action=bridge_node, on_start=[ EmitEvent(event=ChangeState( lifecycle_node_matcher=matches_action(bridge_node), transition_id=Transition.TRANSITION_CONFIGURE, ), ), ], )) activate_event_handler = RegisterEventHandler( event_handler=OnStateTransition( target_lifecycle_node=bridge_node, start_state='configuring', goal_state='inactive', entities=[ EmitEvent(event=ChangeState( lifecycle_node_matcher=matches_action(bridge_node), transition_id=Transition.TRANSITION_ACTIVATE, ), ), ], )) shutdown_event_handler = RegisterEventHandler(event_handler=OnShutdown( on_shutdown=[ EmitEvent(event=ChangeState( lifecycle_node_matcher=matches_node_name(node_name), transition_id=Transition.TRANSITION_ACTIVE_SHUTDOWN, )) ])) return LaunchDescription([ params_declare, bridge_node, configure_event_handler, activate_event_handler, shutdown_event_handler, ])
def generate_launch_description(): # Get the launch directory example_dir = get_package_share_directory('social_nav2_goal_updaters') stdout_linebuf_envvar = SetEnvironmentVariable( 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') # Specify the actions escort_cmd = LifecycleNode(package='social_nav2_goal_updaters', executable='escort_goal_updater_node', name='escort_goal_updater_node', output='screen', parameters=[]) follow_cmd = LifecycleNode(package='social_nav2_goal_updaters', executable='follow_goal_updater_node', name='follow_goal_updater_node', output='screen', parameters=[]) hri_cmd = LifecycleNode(package='social_nav2_goal_updaters', executable='hri_goal_updater_node', name='hri_goal_updater_node', output='screen', parameters=[]) emit_event_to_request_that_escort_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(escort_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) emit_event_to_request_that_follow_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(follow_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) emit_event_to_request_that_hri_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(hri_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) # Create the launch description and populate ld = LaunchDescription() # Set environment variables ld.add_action(stdout_linebuf_envvar) # Declare the launch options ld.add_action(escort_cmd) ld.add_action(follow_cmd) ld.add_action(hri_cmd) ld.add_action(emit_event_to_request_that_escort_configure_transition) ld.add_action(emit_event_to_request_that_follow_configure_transition) ld.add_action(emit_event_to_request_that_hri_configure_transition) return ld
def generate_launch_description(): set_tty_launch_config_action = launch.actions.SetLaunchConfiguration( "emulate_tty", "True") # Launch Description ld = launch.LaunchDescription() # Watchdog node watchdog_node = LifecycleNode(package='sw_watchdog', node_executable='simple_watchdog', node_namespace='', node_name='simple_docker_watchdog', output='screen', arguments=['220', '--publish', '--activate'] #arguments=['__log_level:=debug'] ) # Make the Watchdog node take the 'activate' transition watchdog_activate_trans_event = EmitEvent(event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(watchdog_node), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE, )) # When the watchdog reaches the 'inactive' state from 'active', log message # and restart monitored entity (via docker) watchdog_inactive_handler = RegisterEventHandler( OnStateTransition( target_lifecycle_node=watchdog_node, start_state='deactivating', goal_state='inactive', entities=[ # Log LogInfo(msg="Watchdog transitioned to 'INACTIVE' state."), # Restart the monitored entity OpaqueFunction(function=docker_restart), # Change state event (inactive -> active) watchdog_activate_trans_event, ], )) # When Shutdown is requested, clean up docker shutdown_handler = RegisterEventHandler( OnShutdown( on_shutdown=[ # Log LogInfo(msg="watchdog_in_docker was asked to shutdown."), # Clean up docker OpaqueFunction(function=docker_stop), ], )) # Add the actions to the launch description. # The order they are added reflects the order in which they will be executed ld.add_action(set_tty_launch_config_action) ld.add_action(OpaqueFunction(function=docker_run)) ld.add_action(watchdog_node) ld.add_action(watchdog_inactive_handler) ld.add_action(shutdown_handler) return ld
def generate_launch_description(): params_file_path = os.path.join( get_package_share_directory('qualisys_driver'), 'config', 'qualisys_driver_params.yaml') stdout_linebuf_envvar = SetEnvironmentVariable( 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1') # print('') # print('params_file_path: ', params_file_path) # print('') driver_node = LifecycleNode( node_name='qualisys_driver_node', package='qualisys_driver', node_executable='qualisys_driver_main', output='screen', parameters=[params_file_path], ) # Make the driver node take the 'configure' transition driver_configure_trans_event = EmitEvent(event=ChangeState( lifecycle_node_matcher=launch.events.matchers.matches_action( driver_node), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) # Make the driver node take the 'activate' transition driver_activate_trans_event = EmitEvent(event=ChangeState( lifecycle_node_matcher=launch.events.matchers.matches_action( driver_node), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE, )) # Create the launch description and populate ld = LaunchDescription() ld.add_action(stdout_linebuf_envvar) ld.add_action(driver_node) ld.add_action(driver_configure_trans_event) ld.add_action(driver_activate_trans_event) return ld
def generate_launch_description(): # use: 'zed' for "ZED" camera - 'zedm' for "ZED mini" camera camera_model = 'zed' # URDF file to be loaded by Robot State Publisher urdf = os.path.join(get_package_share_directory('stereolabs_zed'), 'urdf', camera_model + '.urdf') # ZED Configurations to be loaded by ZED Node config_common = os.path.join(get_package_share_directory('stereolabs_zed'), 'config', 'common.yaml') config_camera = os.path.join(get_package_share_directory('stereolabs_zed'), 'config', camera_model + '.yaml') # Set LOG format os.environ[ 'RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '{time}: [{name}] [{severity}]\t{message}' # Launch Description ld = launch.LaunchDescription() # Prepare the ZED node zed_node = LifecycleNode( node_namespace='zed', # must match the namespace in config -> YAML node_name='zed_node', # must match the node name in config -> YAML package='stereolabs_zed', node_executable='zed_wrapper_node', output='screen', parameters=[ config_common, # Common parameters config_camera, # Camera related parameters ]) # Prepare the Robot State Publisher node rsp_node = Node(node_name='zed_state_publisher', package='robot_state_publisher', node_executable='robot_state_publisher', output='screen', arguments=[urdf, 'robot_description:=zed_description']) # Make the ZED node take the 'configure' transition zed_configure_trans_event = EmitEvent(event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(zed_node), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) # Make the ZED node take the 'activate' transition zed_activate_trans_event = EmitEvent(event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(zed_node), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE, )) # Shutdown event shutdown_event = EmitEvent(event=launch.events.Shutdown()) # When the ZED node reaches the 'inactive' state from 'unconfigured', make it take the 'activate' transition and start the Robot State Publisher zed_inactive_from_unconfigured_state_handler = RegisterEventHandler( OnStateTransition( target_lifecycle_node=zed_node, start_state='configuring', goal_state='inactive', entities=[ # Log LogInfo( msg= "'ZED' reached the 'INACTIVE' state, start the 'Robot State Publisher' node and 'activating'." ), # Robot State Publisher rsp_node, # Change State event ( inactive -> active ) zed_activate_trans_event, ], )) # When the ZED node reaches the 'inactive' state from 'active', it has been deactivated and it will wait for a manual activation zed_inactive_from_active_state_handler = RegisterEventHandler( OnStateTransition( target_lifecycle_node=zed_node, start_state='deactivating', goal_state='inactive', entities=[ # Log LogInfo( msg= "'ZED' reached the 'INACTIVE' state from 'ACTIVE' state. Waiting for manual activation..." ) ], )) # When the ZED node reaches the 'active' state, log a message. zed_active_state_handler = RegisterEventHandler( OnStateTransition( target_lifecycle_node=zed_node, goal_state='active', entities=[ # Log LogInfo(msg="'ZED' reached the 'ACTIVE' state"), ], )) # When the ZED node reaches the 'finalized' state, log a message and exit. zed_finalized_state_handler = RegisterEventHandler( OnStateTransition( target_lifecycle_node=zed_node, goal_state='finalized', entities=[ # Log LogInfo( msg= "'ZED' reached the 'FINALIZED' state. Killing the node..." ), shutdown_event, ], )) # Add the actions to the launch description. # The order they are added reflects the order in which they will be executed. ld.add_action(zed_inactive_from_unconfigured_state_handler) ld.add_action(zed_inactive_from_active_state_handler) ld.add_action(zed_active_state_handler) ld.add_action(zed_finalized_state_handler) ld.add_action(zed_node) ld.add_action(zed_configure_trans_event) return ld
def generate_launch_description(): # Get the launch directory pkg_dir = get_package_share_directory('clean_up') nav_dir = get_package_share_directory('gb_navigation') manipulation_dir = get_package_share_directory('gb_manipulation') gb_world_model_dir = get_package_share_directory('gb_world_model') world_config_dir = os.path.join(gb_world_model_dir, 'config') namespace = LaunchConfiguration('namespace') dope_params_file = LaunchConfiguration('dope_params_file') declare_dope_params_cmd = DeclareLaunchArgument( 'dope_params_file', default_value=os.path.join(get_package_share_directory('dope_launch'), 'config', 'config_pose.yaml'), description='Full path to the TF Pose Estimation parameters file to use' ) declare_namespace_cmd = DeclareLaunchArgument('namespace', default_value='', description='Namespace') stdout_linebuf_envvar = SetEnvironmentVariable( 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1') gb_manipulation_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('gb_manipulation'), 'launch', 'gb_manipulation_launch.py'))) gb_navigation_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('gb_navigation'), 'launch', 'nav2_tiago_launch.py'))) plansys2_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('plansys2_bringup'), 'launch', 'plansys2_bringup_launch_monolithic.py')), launch_arguments={ 'model_file': pkg_dir + '/pddl/domain.pddl:' + nav_dir + '/pddl/domain.pddl' }.items()) dope_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('dope_launch'), 'launch', 'dope_launch.py')), launch_arguments={'dope_params_file': dope_params_file}.items()) # Specify the actions clean_up_executor_cmd = LifecycleNode(package='clean_up', executable='cleanup_executor_node', name='cleanup_executor_node') emit_event_to_request_that_clean_up_executor_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action( clean_up_executor_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) emit_event_to_request_that_clean_up_executor_activate_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action( clean_up_executor_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE, )) on_configure_clean_up_executor_handler = RegisterEventHandler( OnStateTransition( target_lifecycle_node=clean_up_executor_cmd, goal_state='inactive', entities=[ emit_event_to_request_that_clean_up_executor_activate_transition ])) # Specify the dependencies vision_cmd = LifecycleNode(package='clean_up', executable='vision_sim_node', name='vision') emit_event_to_request_that_vision_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(vision_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) attention_manager_cmd = Node(package='gb_attention', executable='attention_server', output='screen') wm_cmd = Node(package='gb_world_model', executable='world_model_main', output='screen', parameters=[world_config_dir + '/world.yml']) ld = LaunchDescription() # Set environment variables ld.add_action(stdout_linebuf_envvar) ld.add_action(declare_namespace_cmd) ld.add_action(declare_dope_params_cmd) # Declare the launch options # Event handlers ld.add_action(on_configure_clean_up_executor_handler) ld.add_action(gb_manipulation_cmd) ld.add_action(gb_navigation_cmd) ld.add_action(plansys2_cmd) ld.add_action(clean_up_executor_cmd) ld.add_action(vision_cmd) ld.add_action(emit_event_to_request_that_vision_configure_transition) ld.add_action( emit_event_to_request_that_clean_up_executor_configure_transition) ld.add_action(attention_manager_cmd) ld.add_action(wm_cmd) ld.add_action(dope_cmd) return ld
def generate_launch_description(): package_name = 'ifm3d_ros2' node_namespace = 'ifm3d' node_name = 'camera' node_exe = 'camera_standalone' # os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = \ # "[{%s}] {%s} [{%s}]: {%s}\n({%s}() at {%s}:{%s})" % \ # ("severity", "time", "name", "message", # "function_name", "file_name", "line_number") os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = \ "[{%s}] {%s} [{%s}]: {%s}" % ("severity", "time", "name", "message") # XXX: This is a hack, there does not seem to be a nice way (or at least # finding the docs is not obvious) to do this with the ROS2 launch api # # Basically, we are trying to allow for passing through the command line # args to the launch file through to the node executable itself (like ROS # 1). # # My assumption is that either: # 1. This stuff exists somewhere in ROS2 and I don't know about it yet # 2. This stuff will exist in ROS2 soon, so, this will likely get factored # out (hopefully soon) # parameters = [] remaps = [] for arg in sys.argv: if ':=' in arg: split_arg = arg.split(sep=':=', maxsplit=1) assert len(split_arg) == 2 if arg.startswith("ns"): node_namespace = split_arg[1] elif arg.startswith("node"): node_name = split_arg[1] elif arg.startswith("params"): parameters.append(tuple(split_arg)[1]) else: remaps.append(tuple(split_arg)) def add_prefix(tup): assert len(tup) == 2 if node_namespace.startswith("/"): prefix = "%s/%s" % (node_namespace, node_name) else: prefix = "/%s/%s" % (node_namespace, node_name) retval = [None, None] if not tup[0].startswith(prefix): retval[0] = prefix + '/' + tup[0] else: retval[0] = tup[0] if not tup[1].startswith(prefix): retval[1] = prefix + '/' + tup[1] else: retval[1] = tup[1] return tuple(retval) remaps = list(map(add_prefix, remaps)) #------------------------------------------------------------ # Nodes #------------------------------------------------------------ # # Coord frame transform from camera_optical_link to camera_link # tf_node = \ ExecuteProcess( cmd=['ros2', 'run', 'tf2_ros', 'static_transform_publisher', '0', '0', '0', str(-pi/2.), '0', str(-pi/2.), str(node_name + "_link"), str(node_name + "_optical_link")], #output='screen', log_cmd=True ) # # The camera component # camera_node = \ LifecycleNode( package=package_name, node_executable=node_exe, node_namespace=node_namespace, node_name=node_name, output='screen', parameters=parameters, remappings=remaps, log_cmd=True, ) #------------------------------------------------------------ # Events we need to emit to induce state transitions #------------------------------------------------------------ camera_configure_evt = \ EmitEvent( event=ChangeState( lifecycle_node_matcher = \ launch.events.matches_action(camera_node), transition_id = lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE ) ) camera_activate_evt = \ EmitEvent( event=ChangeState( lifecycle_node_matcher = \ launch.events.matches_action(camera_node), transition_id = lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE ) ) camera_cleanup_evt = \ EmitEvent( event=ChangeState( lifecycle_node_matcher = \ launch.events.matches_action(camera_node), transition_id = lifecycle_msgs.msg.Transition.TRANSITION_CLEANUP ) ) camera_shutdown_evt = EmitEvent(event=launch.events.Shutdown()) #------------------------------------------------------------ # These are the edges of the state machine graph we want to autonomously # manage #------------------------------------------------------------ # # unconfigured -> configuring -> inactive # camera_node_unconfigured_to_inactive_handler = \ RegisterEventHandler( OnStateTransition( target_lifecycle_node = camera_node, start_state = 'configuring', goal_state = 'inactive', entities = [ LogInfo(msg = "Emitting 'TRANSITION_ACTIVATE' event"), camera_activate_evt, ], ) ) # # active -> deactivating -> inactive # camera_node_active_to_inactive_handler = \ RegisterEventHandler( OnStateTransition( target_lifecycle_node = camera_node, start_state = 'deactivating', goal_state = 'inactive', entities = [ LogInfo(msg = "Emitting 'TRANSITION_CLEANUP' event"), camera_cleanup_evt, ], ) ) # # inactive -> cleaningup -> unconfigured # camera_node_inactive_to_unconfigured_handler = \ RegisterEventHandler( OnStateTransition( target_lifecycle_node = camera_node, start_state = 'cleaningup', goal_state = 'unconfigured', entities = [ LogInfo(msg = "Emitting 'TRANSITION_CONFIGURE' event"), camera_configure_evt, ], ) ) # # * -> errorprocessing -> unconfigured # camera_node_errorprocessing_to_unconfigured_handler = \ RegisterEventHandler( OnStateTransition( target_lifecycle_node = camera_node, start_state = 'errorprocessing', goal_state = 'unconfigured', entities = [ LogInfo(msg = "Emitting 'TRANSITION_CONFIGURE' event"), camera_configure_evt, ], ) ) # # * -> shuttingdown -> finalized # camera_node_shuttingdown_to_finalized_handler = \ RegisterEventHandler( OnStateTransition( target_lifecycle_node = camera_node, start_state = 'shuttingdown', goal_state = 'finalized', entities = [ LogInfo(msg = "Emitting 'SHUTDOWN' event"), camera_shutdown_evt, ], ) ) #------------------------------------------------------------ # Now, add all the actions to a launch description and return it #------------------------------------------------------------ ld = LaunchDescription() ld.add_action(camera_node_unconfigured_to_inactive_handler) ld.add_action(camera_node_active_to_inactive_handler) ld.add_action(camera_node_inactive_to_unconfigured_handler) ld.add_action(camera_node_errorprocessing_to_unconfigured_handler) ld.add_action(camera_node_shuttingdown_to_finalized_handler) ld.add_action(tf_node) ld.add_action(camera_node) ld.add_action(camera_configure_evt) return ld
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_3.3.542.dbc" dbc_file_path = get_package_share_directory('raptor_dbw_can') + \ "/launch/CAN1_HIL_test_1.dbc" socket_can_receiver_node = LifecycleNode( package='ros2_socketcan', executable='socket_can_receiver_node_exe', name='socket_can_receiver', namespace=TextSubstitution(text=''), parameters=[{ 'interface': LaunchConfiguration('interface'), 'interval_sec': LaunchConfiguration('interval_sec'), }], output='screen') socket_can_receiver_configure_event_handler = RegisterEventHandler( event_handler=OnProcessStart( target_action=socket_can_receiver_node, on_start=[ EmitEvent( event=ChangeState( lifecycle_node_matcher=matches_action(socket_can_receiver_node), transition_id=Transition.TRANSITION_CONFIGURE, ), ), ], ), condition=IfCondition(LaunchConfiguration('auto_configure')), ) socket_can_receiver_activate_event_handler = RegisterEventHandler( event_handler=OnStateTransition( target_lifecycle_node=socket_can_receiver_node, start_state='configuring', goal_state='inactive', entities=[ EmitEvent( event=ChangeState( lifecycle_node_matcher=matches_action(socket_can_receiver_node), transition_id=Transition.TRANSITION_ACTIVATE, ), ), ], ), condition=IfCondition(LaunchConfiguration('auto_activate')), ) socket_can_sender_node = LifecycleNode( package='ros2_socketcan', executable='socket_can_sender_node_exe', name='socket_can_sender', namespace=TextSubstitution(text=''), parameters=[{ 'interface': LaunchConfiguration('interface'), 'timeout_sec': LaunchConfiguration('timeout_sec'), }], output='screen') socket_can_sender_configure_event_handler = RegisterEventHandler( event_handler=OnProcessStart( target_action=socket_can_sender_node, on_start=[ EmitEvent( event=ChangeState( lifecycle_node_matcher=matches_action(socket_can_sender_node), transition_id=Transition.TRANSITION_CONFIGURE, ), ), ], ), condition=IfCondition(LaunchConfiguration('auto_configure')), ) socket_can_sender_activate_event_handler = RegisterEventHandler( event_handler=OnStateTransition( target_lifecycle_node=socket_can_sender_node, start_state='configuring', goal_state='inactive', entities=[ EmitEvent( event=ChangeState( lifecycle_node_matcher=matches_action(socket_can_sender_node), transition_id=Transition.TRANSITION_ACTIVATE, ), ), ], ), condition=IfCondition(LaunchConfiguration('auto_activate')), ) return LaunchDescription( [ DeclareLaunchArgument('interface', default_value='can1'), DeclareLaunchArgument('interval_sec', default_value='0.01'), DeclareLaunchArgument('auto_configure', default_value='true'), DeclareLaunchArgument('auto_activate', default_value='true'), socket_can_receiver_node, socket_can_receiver_configure_event_handler, socket_can_receiver_activate_event_handler, DeclareLaunchArgument('interface', default_value='can1'), DeclareLaunchArgument('timeout_sec', default_value='0.01'), DeclareLaunchArgument('auto_configure', default_value='true'), DeclareLaunchArgument('auto_activate', default_value='true'), socket_can_sender_node, socket_can_sender_configure_event_handler, socket_can_sender_activate_event_handler, 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', '/from_can_bus'), ('/raptor_dbw_interface/can_tx', '/to_can_bus'), ], ), ])
def generate_launch_description(): # Get the launch directory nav2_bringup_dir = get_package_share_directory('nav2_bringup') pilot_bringup_dir = get_package_share_directory('pilot_urjc_bringup') launch_dir = os.path.join(nav2_bringup_dir, 'launch') # Create the launch configuration variables namespace = LaunchConfiguration('namespace') use_sim_time = LaunchConfiguration('use_sim_time') remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] declare_namespace_cmd = DeclareLaunchArgument( 'namespace', default_value='', description='Top-level namespace') declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='True', description='Use simulation (Gazebo) clock if true') pcl2laser_cmd = LifecycleNode( package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_managed', name='pointcloud_to_laser', remappings=[('cloud_in', '/xtion/depth_registered/points'), ('scan', '/mros_scan')], parameters=[{ 'target_frame': 'base_footprint', 'transform_tolerance': 0.01, 'min_height': 0.0, 'max_height': 1.0, 'angle_min': -1.5708, # -M_PI/2 'angle_max': 1.5708, # M_PI/2 'angle_increment': 0.0087, # M_PI/360.0 'scan_time': 0.3333, 'range_min': 0.45, 'range_max': 4.0, 'use_inf': True, 'inf_epsilon': 1.0 }], ) emit_event_to_request_that_pcl2laser_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(pcl2laser_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) laser_resender_cmd = LifecycleNode(name='laser_resender', package='laser_resender', executable='laser_resender_node', output='screen') battery_contingency_cmd = Node(name='battery_contingency_sim', package='mros_contingencies_sim', executable='battery_contingency_sim_node', output='screen') components_file_path = ( get_package_share_directory('mros_modes_observer') + '/params/components.yaml') modes_observer_node = Node(package='mros_modes_observer', executable='modes_observer_node', parameters=[{ 'componentsfile': components_file_path }], output='screen') emit_event_to_request_that_laser_resender_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action( laser_resender_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, )) shm_model_path = (get_package_share_directory('pilot_urjc_bringup') + '/params/pilot_modes.yaml') # Start as a normal node is currently not possible. # Path to SHM file should be passed as a ROS parameter. mode_manager_node = Node(package='system_modes', executable='mode_manager', parameters=[{ 'modelfile': shm_model_path }], output='screen') ld = LaunchDescription() # Declare the launch options ld.add_action(declare_namespace_cmd) ld.add_action(declare_use_sim_time_cmd) # Add system modes manager ld.add_action(mode_manager_node) # Add system modes observer node ld.add_action(modes_observer_node) ld.add_action(pcl2laser_cmd) ld.add_action(laser_resender_cmd) ld.add_action(battery_contingency_cmd) ld.add_action(emit_event_to_request_that_pcl2laser_configure_transition) ld.add_action( emit_event_to_request_that_laser_resender_configure_transition) return ld
def generate_launch_description(): # Get the launch directory nav2_bringup_dir = get_package_share_directory('nav2_bringup') pilot_bringup_dir = get_package_share_directory('pilot_urjc_bringup') launch_dir = os.path.join(nav2_bringup_dir, 'launch') # Create the launch configuration variables namespace = LaunchConfiguration('namespace') use_sim_time = LaunchConfiguration('use_sim_time') use_simulator = LaunchConfiguration('use_simulator') use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') headless = LaunchConfiguration('headless') world = LaunchConfiguration('world') remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] declare_namespace_cmd = DeclareLaunchArgument( 'namespace', default_value='', description='Top-level namespace') declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='True', description='Use simulation (Gazebo) clock if true') declare_use_simulator_cmd = DeclareLaunchArgument( 'use_simulator', default_value='True', description='Whether to start the simulator') declare_use_robot_state_pub_cmd = DeclareLaunchArgument( 'use_robot_state_pub', default_value='True', description='Whether to start the robot state publisher') declare_simulator_cmd = DeclareLaunchArgument( 'headless', default_value='True', description='Whether to execute gzclient)') declare_world_cmd = DeclareLaunchArgument( 'world', # TODO(orduno) Switch back once ROS argument passing has been fixed upstream # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91 # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'), # 'worlds/turtlebot3_worlds/waffle.model'), default_value=os.path.join(pilot_bringup_dir, 'worlds', 'waffle_house.model'), description='Full path to world model file to load') # Specify the actions start_gazebo_server_cmd = ExecuteProcess( condition=IfCondition(use_simulator), cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world], cwd=[launch_dir], output='screen') start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])), cmd=['gzclient'], cwd=[launch_dir], output='screen') urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( condition=IfCondition(use_robot_state_pub), package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', namespace=namespace, output='screen', parameters=[{'use_sim_time': use_sim_time}], remappings=remappings, arguments=[urdf]) pcl2laser_cmd = LifecycleNode( package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_managed', name='pointcloud_to_laser', remappings=[('cloud_in', '/intel_realsense_r200_depth/points'), ('scan', '/mros_scan')], parameters=[{ 'target_frame': 'base_scan', 'transform_tolerance': 0.01, 'min_height': 0.0, 'max_height': 1.0, 'angle_min': -1.5708, # -M_PI/2 'angle_max': 1.5708, # M_PI/2 'angle_increment': 0.0087, # M_PI/360.0 'scan_time': 0.3333, 'range_min': 0.45, 'range_max': 4.0, 'use_inf': True, 'inf_epsilon': 1.0 }], ) emit_event_to_request_that_pcl2laser_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(pcl2laser_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, ) ) laser_resender_cmd = LifecycleNode( name='laser_resender', package='laser_resender', executable='laser_resender_node', output='screen') battery_contingency_cmd = Node( name='battery_contingency_sim', package='mros_contingencies_sim', executable='battery_contingency_sim_node', output='screen') components_file_path = (get_package_share_directory('mros_modes_observer') + '/params/components.yaml') modes_observer_node = Node( package='mros_modes_observer', executable='modes_observer_node', parameters=[{'componentsfile': components_file_path}], output='screen') emit_event_to_request_that_laser_resender_configure_transition = EmitEvent( event=ChangeState( lifecycle_node_matcher=launch.events.matches_action(laser_resender_cmd), transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE, ) ) shm_model_path = (get_package_share_directory('pilot_urjc_bringup') + '/params/pilot_modes.yaml') # Start as a normal node is currently not possible. # Path to SHM file should be passed as a ROS parameter. mode_manager_node = Node( package='system_modes', executable='mode_manager', parameters=[{'modelfile': shm_model_path}], output='screen') ld = LaunchDescription() # Declare the launch options ld.add_action(declare_namespace_cmd) ld.add_action(declare_use_sim_time_cmd) ld.add_action(declare_use_simulator_cmd) ld.add_action(declare_use_robot_state_pub_cmd) ld.add_action(declare_simulator_cmd) ld.add_action(declare_world_cmd) # Add any conditioned actions ld.add_action(start_gazebo_server_cmd) ld.add_action(start_gazebo_client_cmd) ld.add_action(start_robot_state_publisher_cmd) # Add system modes manager ld.add_action(mode_manager_node) # Add system modes observer node ld.add_action(modes_observer_node) ld.add_action(pcl2laser_cmd) ld.add_action(laser_resender_cmd) ld.add_action(battery_contingency_cmd) ld.add_action(emit_event_to_request_that_pcl2laser_configure_transition) ld.add_action(emit_event_to_request_that_laser_resender_configure_transition) return ld