113 lines
3.6 KiB
Python
Executable File
113 lines
3.6 KiB
Python
Executable File
#!/usr/bin/env -S ros2 launch
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"""Launch Python example for following a target"""
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from os import path
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from typing import List
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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def generate_launch_description() -> LaunchDescription:
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# Declare all launch arguments
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declared_arguments = generate_declared_arguments()
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# Get substitution for all arguments
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robot_type = LaunchConfiguration("robot_type")
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rviz_config = LaunchConfiguration("rviz_config")
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use_sim_time = LaunchConfiguration("use_sim_time")
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ign_verbosity = LaunchConfiguration("ign_verbosity")
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log_level = LaunchConfiguration("log_level")
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# List of included launch descriptions
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launch_descriptions = [
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# Launch world with robot (configured for this example)
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("draw_svg"),
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"launch",
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"default.launch.py",
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]
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)
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),
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launch_arguments=[
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("world_type", "draw_svg"),
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("robot_type", robot_type),
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("rviz_config", rviz_config),
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("use_sim_time", use_sim_time),
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("ign_verbosity", ign_verbosity),
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("log_level", log_level),
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],
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),
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]
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# List of nodes to be launched
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nodes = [
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# Run the example node (Python)
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Node(
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package="draw_svg",
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executable="follow.py",
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output="log",
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arguments=["--ros-args", "--log-level", log_level],
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parameters=[{"use_sim_time": use_sim_time}],
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),
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Node(
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package="draw_svg",
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executable="draw_svg.py",
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output="log",
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arguments=["--ros-args", "--log-level", log_level],
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parameters=[{"use_sim_time": use_sim_time}],
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),
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]
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return LaunchDescription(declared_arguments + launch_descriptions + nodes)
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def generate_declared_arguments() -> List[DeclareLaunchArgument]:
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"""
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Generate list of all launch arguments that are declared for this launch script.
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"""
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return [
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# Robot selection
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DeclareLaunchArgument(
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"robot_type",
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default_value="lite6",
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description="Name of the robot to use.",
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),
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# Miscellaneous
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DeclareLaunchArgument(
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"rviz_config",
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default_value=path.join(
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get_package_share_directory("xarm_description"),
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"rviz",
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"display.rviz",
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),
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description="Path to configuration for RViz2.",
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),
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="If true, use simulated clock.",
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),
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DeclareLaunchArgument(
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"ign_verbosity",
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default_value="2",
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description="Verbosity level for Ignition Gazebo (0~4).",
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),
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DeclareLaunchArgument(
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"log_level",
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default_value="warn",
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description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
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),
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]
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