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88 lines
2.8 KiB
Python
88 lines
2.8 KiB
Python
from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.substitutions import (
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PathJoinSubstitution,
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LaunchConfiguration,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.actions import Node
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from launch_ros.descriptions import ParameterFile
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from launch.conditions import IfCondition
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def generate_launch_description():
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pkg_wave_rover_controller = FindPackageShare(package="").find("wave_rover_controller")
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pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
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# Launch arguments
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launch_args = [
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DeclareLaunchArgument(
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"joy_model",
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description="Used joystick model (default is T-29)",
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default_value="T-29.yaml",
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),
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DeclareLaunchArgument(
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"namespace", default_value="sirius_bot", description="Top-level namespace"
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),
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DeclareLaunchArgument(
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"use_joy", default_value="False", description="Use joystick for control"
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),
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]
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joy = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([pkg_wave_rover_controller, "launch", "joy.launch.py"])
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),
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launch_arguments={"namespace": LaunchConfiguration("namespace")}.items(),
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condition=IfCondition(LaunchConfiguration('use_joy'))
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)
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model = LaunchConfiguration("joy_model")
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joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
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"config",
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model
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])
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# joy_node = Node(
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# package="joy",
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# executable="joy_node",
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# name="joy",
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# namespace=LaunchConfiguration("namespace"),
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# output="both",
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# parameters=[
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# ParameterFile(joy_config),
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# ],
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# )
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# joy_wave_rover_controller_node = Node(
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# package="wave_rover_controller",
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# executable="joy_control_node",
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# name="joy_control",
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# # output="screen",
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# namespace=LaunchConfiguration("namespace"),
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# parameters=[
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# ParameterFile(joy_params),
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# {'serial_port': '/dev/ttyUSB0'}]
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# )
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wave_rover_node = Node(
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package="wave_rover_controller",
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executable="wave_rover_node",
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name="wave_rover_node",
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# output="screen",
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namespace=LaunchConfiguration("namespace"),
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parameters=[
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ParameterFile(joy_params),
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{'serial_port': '/dev/ttyUSB0'}]
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)
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return LaunchDescription(
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launch_args
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+ [
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joy,
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wave_rover_controller_node,
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]
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)
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