created anchor package and launch file

2026-02-11 09:20:40 +00:00 · 2025-02-19 20:09:25 -06:00
parent 3bdef8b591
commit a0e4649c13
7 changed files with 148 additions and 0 deletions
--- a/launch/pycache/rover_launch.cpython-312.pyc
+++ b/launch/pycache/rover_launch.cpython-312.pyc
--- a/launch/rover_launch.py
+++ b/launch/rover_launch.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context, *args, **kwargs):
+    # Retrieve the resolved value of the launch argument 'mode'
+    mode = LaunchConfiguration('mode').perform(context)
+    nodes = []
+
+    if mode == 'anchor':
+        # Launch every node and pass "anchor" as the parameter
+        nodes.append(
+            Node(
+                package='arm_pkg',
+                executable='arm',  # change as needed
+                name='arm',
+                output='screen',
+                parameters=[{'launch_arg': mode}]
+            )
+        )
+        nodes.append(
+            Node(
+                package='core_pkg',
+                executable='core',  # change as needed
+                name='core',
+                output='screen',
+                parameters=[{'launch_arg': mode}]
+            )
+        )
+        # nodes.append(
+        #     Node(
+        #         package='bio_pkg',
+        #         executable='bio',  # change as needed
+        #         name='bio',
+        #         output='screen',
+        #         parameters=[{'launch_arg': mode}]
+        #     )
+        # )
+        nodes.append(
+            Node(
+                package='anchor_pkg',
+                executable='anchor',  # change as needed
+                name='anchor',
+                output='screen',
+                parameters=[{'launch_arg': mode}]
+            )
+        )
+    elif mode in ['arm', 'core', 'bio']:
+        # Only launch the node corresponding to the provided mode.
+        if mode == 'arm':
+            nodes.append(
+                Node(
+                    package='arm_pkg',
+                    executable='arm',
+                    name='arm',
+                    output='screen',
+                    parameters=[{'launch_arg': mode}]
+                )
+            )
+        elif mode == 'core':
+            nodes.append(
+                Node(
+                    package='core_pkg',
+                    executable='core',
+                    name='core',
+                    output='screen',
+                    parameters=[{'launch_arg': mode}]
+                )
+            )
+        # elif mode == 'bio':
+        #     nodes.append(
+        #         Node(
+        #             package='bio_pkg',
+        #             executable='bio',
+        #             name='bio',
+        #             output='screen',
+        #             parameters=[{'launch_arg': mode}]
+        #         )
+        #     )
+    else:
+        # If an invalid mode is provided, print an error.
+        # (You might want to raise an exception or handle it differently.)
+        print("Invalid mode provided. Choose one of: arm, core, bio, anchor.")
+
+    return nodes
+
+def generate_launch_description():
+    declare_arg = DeclareLaunchArgument(
+        'mode',
+        default_value='anchor',
+        description='Launch mode: arm, core, bio, or anchor'
+    )
+
+    return LaunchDescription([
+        declare_arg,
+        OpaqueFunction(function=launch_setup)
+    ])