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Migrated launch files
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8 files changed

+390
-83
lines changed

8 files changed

+390
-83
lines changed

‎mocha_core/launch/database_translators_publishers.launch‎

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‎mocha_core/launch/database_translators_publishers.launch.py‎

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#!/usr/bin/env python3
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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"""
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Launch database, translator, and topic publisher nodes for MOCHA system
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"""
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# Declare launch arguments
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robot_name_arg = DeclareLaunchArgument(
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'robot_name',
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default_value='charon',
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description='Name of the robot'
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)
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robot_configs_arg = DeclareLaunchArgument(
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'robot_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'testConfigs', 'robot_configs.yaml'
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]),
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description='Path to robot configuration file'
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)
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topic_configs_arg = DeclareLaunchArgument(
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'topic_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'testConfigs', 'topic_configs.yaml'
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]),
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description='Path to topic configuration file'
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)
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radio_configs_arg = DeclareLaunchArgument(
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'radio_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'radio_configs.yaml'
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]),
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description='Path to radio configuration file'
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)
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# Get launch configurations
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robot_name = LaunchConfiguration('robot_name')
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robot_configs = LaunchConfiguration('robot_configs')
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topic_configs = LaunchConfiguration('topic_configs')
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radio_configs = LaunchConfiguration('radio_configs')
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# Define nodes
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integrate_database_node = Node(
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package='mocha_core',
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executable='integrate_database.py',
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name='integrate_database',
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output='screen',
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parameters=[{
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'radio_configs': radio_configs,
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'topic_configs': topic_configs,
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'rssi_threshold': 35
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}]
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)
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translator_node = Node(
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package='mocha_core',
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executable='translator.py',
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name='translator',
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output='screen',
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parameters=[{
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'topic_configs': topic_configs
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}]
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)
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topic_publisher_node = Node(
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package='mocha_core',
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executable='topic_publisher.py',
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name='topic_publisher',
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output='screen',
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parameters=[{
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'topic_configs': topic_configs
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}]
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)
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return LaunchDescription([
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robot_name_arg,
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robot_configs_arg,
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topic_configs_arg,
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radio_configs_arg,
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integrate_database_node,
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translator_node,
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topic_publisher_node
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])

‎mocha_launch/launch/basestation.launch‎

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‎mocha_launch/launch/basestation.launch.py‎

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#!/usr/bin/env python3
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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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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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"""
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Launch basestation robot with database, translators, publishers, and Rajant interface
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"""
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# Declare launch arguments
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robot_name_arg = DeclareLaunchArgument(
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'robot_name',
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default_value='basestation',
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description='Name of the robot'
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)
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robot_configs_arg = DeclareLaunchArgument(
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'robot_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'robot_configs.yaml'
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]),
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description='Path to robot configuration file'
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)
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topic_configs_arg = DeclareLaunchArgument(
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'topic_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'topic_configs.yaml'
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]),
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description='Path to topic configuration file'
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)
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radio_configs_arg = DeclareLaunchArgument(
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'radio_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'radio_configs.yaml'
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]),
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description='Path to radio configuration file'
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)
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# Get launch configurations
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robot_name = LaunchConfiguration('robot_name')
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robot_configs = LaunchConfiguration('robot_configs')
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topic_configs = LaunchConfiguration('topic_configs')
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radio_configs = LaunchConfiguration('radio_configs')
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# Include database, translators and publishers launch file
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database_translators_publishers_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'launch',
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'database_translators_publishers.launch.py'
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])
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]),
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launch_arguments={
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'topic_configs': topic_configs,
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'radio_configs': radio_configs
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}.items()
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)
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# Include Rajant interface launch file
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rajant_interface_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('interface_rajant'),
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'launch',
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'rajant_nodes.launch.py'
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])
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]),
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launch_arguments={
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'topic_configs': topic_configs,
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'radio_configs': radio_configs
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}.items()
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)
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return LaunchDescription([
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robot_name_arg,
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robot_configs_arg,
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topic_configs_arg,
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radio_configs_arg,
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database_translators_publishers_launch,
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rajant_interface_launch
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])

‎mocha_launch/launch/jackal.launch‎

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‎mocha_launch/launch/jackal.launch.py‎

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#!/usr/bin/env python3
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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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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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"""
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Launch jackal robot (callisto) with database, translators, publishers, and Rajant interface
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"""
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# Declare launch arguments
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robot_name_arg = DeclareLaunchArgument(
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'robot_name',
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default_value='callisto',
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description='Name of the robot'
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)
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robot_configs_arg = DeclareLaunchArgument(
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'robot_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'robot_configs.yaml'
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]),
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description='Path to robot configuration file'
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)
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topic_configs_arg = DeclareLaunchArgument(
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'topic_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'topic_configs.yaml'
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]),
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description='Path to topic configuration file'
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)
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radio_configs_arg = DeclareLaunchArgument(
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'radio_configs',
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default_value=PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'config', 'radio_configs.yaml'
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]),
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description='Path to radio configuration file'
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)
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# Get launch configurations
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robot_name = LaunchConfiguration('robot_name')
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robot_configs = LaunchConfiguration('robot_configs')
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topic_configs = LaunchConfiguration('topic_configs')
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radio_configs = LaunchConfiguration('radio_configs')
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# Include database, translators and publishers launch file
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database_translators_publishers_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('mocha_core'),
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'launch',
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'database_translators_publishers.launch.py'
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])
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]),
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launch_arguments={
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'topic_configs': topic_configs,
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'radio_configs': radio_configs
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}.items()
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)
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# Include Rajant interface launch file
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rajant_interface_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('interface_rajant'),
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'launch',
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'rajant_nodes.launch.py'
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])
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]),
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launch_arguments={
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'robot_name': robot_name,
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'robot_configs': robot_configs,
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'topic_configs': topic_configs,
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'radio_configs': radio_configs
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}.items()
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)
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return LaunchDescription([
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robot_name_arg,
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robot_configs_arg,
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topic_configs_arg,
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radio_configs_arg,
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database_translators_publishers_launch,
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rajant_interface_launch
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])

‎mocha_launch/launch/titan.launch‎

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