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Tomas BacaTomas Baca
Tomas Baca
authored and
Tomas Baca
committed
added core launchfiile
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2 files changed

+244
-4
lines changed

2 files changed

+244
-4
lines changed

‎ros_packages/mrs_uav_core/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -30,10 +30,10 @@ install(
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RUNTIME DESTINATION bin
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)
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# install(
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# DIRECTORY launch
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# DESTINATION share/${PROJECT_NAME}
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# )
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install(
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DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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# install(
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# DIRECTORY config

‎ros_packages/mrs_uav_core/launch/core.py‎

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@@ -0,0 +1,240 @@
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#!/usr/bin/env python3
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import launch
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import os
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import sys
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from launch.actions import IncludeLaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.conditions import IfCondition, UnlessCondition
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import (
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LaunchConfiguration,
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IfElseSubstitution,
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PythonExpression,
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PathJoinSubstitution,
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EnvironmentVariable,
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)
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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ld = launch.LaunchDescription()
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# #{ standalone
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standalone = LaunchConfiguration('standalone')
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declare_standalone = DeclareLaunchArgument(
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'standalone',
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default_value='false',
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description='Whether to start a as a standalone or load into an existing container.'
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)
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ld.add_action(declare_standalone)
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# #} end of standalone
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# #{ custom_config
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custom_config = LaunchConfiguration('custom_config')
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# this adds the args to the list of args available for this launch files
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# these args can be listed at runtime using -s flag
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# default_value is required to if the arg is supposed to be optional at launch time
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ld.add_action(DeclareLaunchArgument(
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'custom_config',
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default_value="",
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description="Path to the custom configuration file. The path can be absolute, starting with '/' or relative to the current working directory",
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))
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# behaviour:
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# custom_config == "" => custom_config: ""
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# custom_config == "/<path>" => custom_config: "/<path>"
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# custom_config == "<path>" => custom_config: "$(pwd)/<path>"
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custom_config = IfElseSubstitution(
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condition=PythonExpression(['"', custom_config, '" != "" and ', 'not "', custom_config, '".startswith("/")']),
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if_value=PathJoinSubstitution([EnvironmentVariable('PWD'), custom_config]),
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else_value=custom_config
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)
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# #} end of custom_config
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# #{ platform_config
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platform_config = LaunchConfiguration('platform_config')
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# this adds the args to the list of args available for this launch files
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# these args can be listed at runtime using -s flag
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# default_value is required to if the arg is supposed to be optional at launch time
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ld.add_action(DeclareLaunchArgument(
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'platform_config',
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default_value="",
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description="Path to the custom configuration file. The path can be absolute, starting with '/' or relative to the current working directory",
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))
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# behaviour:
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# platform_config == "" => platform_config: ""
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# platform_config == "/<path>" => platform_config: "/<path>"
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# platform_config == "<path>" => platform_config: "$(pwd)/<path>"
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platform_config = IfElseSubstitution(
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condition=PythonExpression(['"', platform_config, '" != "" and ', 'not "', platform_config, '".startswith("/")']),
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if_value=PathJoinSubstitution([EnvironmentVariable('PWD'), platform_config]),
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else_value=platform_config
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)
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# #} end of platform_config
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# #{ world_config
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world_config = LaunchConfiguration('world_config')
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# this adds the args to the list of args available for this launch files
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# these args can be listed at runtime using -s flag
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# default_value is required to if the arg is supposed to be optional at launch time
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ld.add_action(DeclareLaunchArgument(
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'world_config',
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default_value="",
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description="Path to the custom configuration file. The path can be absolute, starting with '/' or relative to the current working directory",
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))
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# behaviour:
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# world_config == "" => world_config: ""
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# world_config == "/<path>" => world_config: "/<path>"
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# world_config == "<path>" => world_config: "$(pwd)/<path>"
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world_config = IfElseSubstitution(
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condition=PythonExpression(['"', world_config, '" != "" and ', 'not "', world_config, '".startswith("/")']),
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if_value=PathJoinSubstitution([EnvironmentVariable('PWD'), world_config]),
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else_value=world_config
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)
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# #} end of world_config
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# #{ network_config
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network_config = LaunchConfiguration('network_config')
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# this adds the args to the list of args available for this launch files
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# these args can be listed at runtime using -s flag
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# default_value is required to if the arg is supposed to be optional at launch time
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ld.add_action(DeclareLaunchArgument(
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'network_config',
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default_value="",
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description="Path to the custom configuration file. The path can be absolute, starting with '/' or relative to the current working directory",
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))
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# behaviour:
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# network_config == "" => network_config: ""
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# network_config == "/<path>" => network_config: "/<path>"
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# network_config == "<path>" => network_config: "$(pwd)/<path>"
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network_config = IfElseSubstitution(
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condition=PythonExpression(['"', network_config, '" != "" and ', 'not "', network_config, '".startswith("/")']),
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if_value=PathJoinSubstitution([EnvironmentVariable('PWD'), network_config]),
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else_value=network_config
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)
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# #} end of network_config
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uav_name=os.getenv('UAV_NAME', "uav1")
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container_name = "/" + uav_name + "/uav_core_container"
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core_container = ComposableNodeContainer(
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namespace=uav_name,
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name='uav_core_container',
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package='rclcpp_components',
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executable='component_container_mt',
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output="screen",
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parameters=[
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{'thread_num': 16},
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{'use_intra_process_comms': True},
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],
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condition=UnlessCondition(standalone)
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)
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ld.add_action(core_container)
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ld.add_action(
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('mrs_uav_managers'), '/launch/control_manager.py'
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]),
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launch_arguments={
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'custom_config': custom_config,
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'platforom_config': platform_config,
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'world_config': world_config,
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'network_config': network_config,
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'standalone': standalone,
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'container_name': container_name,
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}.items()
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)
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)
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ld.add_action(
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('mrs_uav_managers'), '/launch/uav_manager.py'
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]),
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launch_arguments={
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'custom_config': custom_config,
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'platforom_config': platform_config,
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'world_config': world_config,
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'network_config': network_config,
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'standalone': standalone,
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'container_name': container_name,
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}.items()
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)
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)
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ld.add_action(
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('mrs_uav_managers'), '/launch/transform_manager.py'
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]),
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launch_arguments={
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'custom_config': custom_config,
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'platforom_config': platform_config,
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'world_config': world_config,
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'network_config': network_config,
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'standalone': standalone,
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'container_name': container_name,
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}.items()
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)
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)
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ld.add_action(
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('mrs_uav_managers'), '/launch/constraint_manager.py'
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]),
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launch_arguments={
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'custom_config': custom_config,
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'platforom_config': platform_config,
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'world_config': world_config,
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'network_config': network_config,
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'standalone': standalone,
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'container_name': container_name,
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}.items()
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)
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)
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ld.add_action(
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('mrs_uav_managers'), '/launch/estimation_manager.py'
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]),
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launch_arguments={
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'custom_config': custom_config,
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'platforom_config': platform_config,
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'world_config': world_config,
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'network_config': network_config,
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'standalone': standalone,
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'container_name': container_name,
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}.items()
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)
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)
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return ld

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