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Anchor: Shutdown all nodes when one exits

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This commit is contained in:
Tristan McGinnis
2025-05-16 11:48:11 -05:00
committed by GitHub
parent ded9d5ac78
commit b8c82a8e79
1 changed files with 15 additions and 8 deletions
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23
rover_launch.py
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@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
@@ -24,7 +24,8 @@ def launch_setup(context, *args, **kwargs):
executable='arm', # change as needed
name='arm',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
nodes.append(
@@ -33,7 +34,8 @@ def launch_setup(context, *args, **kwargs):
executable='core', # change as needed
name='core',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
nodes.append(
@@ -42,7 +44,8 @@ def launch_setup(context, *args, **kwargs):
executable='bio', # change as needed
name='bio',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
nodes.append(
@@ -51,7 +54,8 @@ def launch_setup(context, *args, **kwargs):
executable='anchor', # change as needed
name='anchor',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
elif mode in ['arm', 'core', 'bio']:
@@ -63,7 +67,8 @@ def launch_setup(context, *args, **kwargs):
executable='arm',
name='arm',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
elif mode == 'core':
@@ -73,7 +78,8 @@ def launch_setup(context, *args, **kwargs):
executable='core',
name='core',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
elif mode == 'bio':
@@ -83,7 +89,8 @@ def launch_setup(context, *args, **kwargs):
executable='bio',
name='bio',
output='both',
parameters=[{'launch_mode': mode}]
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)
else: