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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 #!/usr/bin/env python3
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
from launch.substitutions import LaunchConfiguration from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node from launch_ros.actions import Node
@@ -24,7 +24,8 @@ def launch_setup(context, *args, **kwargs):
executable='arm', # change as needed executable='arm', # change as needed
name='arm', name='arm',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
nodes.append( nodes.append(
@@ -33,7 +34,8 @@ def launch_setup(context, *args, **kwargs):
executable='core', # change as needed executable='core', # change as needed
name='core', name='core',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
nodes.append( nodes.append(
@@ -42,7 +44,8 @@ def launch_setup(context, *args, **kwargs):
executable='bio', # change as needed executable='bio', # change as needed
name='bio', name='bio',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
nodes.append( nodes.append(
@@ -51,7 +54,8 @@ def launch_setup(context, *args, **kwargs):
executable='anchor', # change as needed executable='anchor', # change as needed
name='anchor', name='anchor',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
elif mode in ['arm', 'core', 'bio']: elif mode in ['arm', 'core', 'bio']:
@@ -63,7 +67,8 @@ def launch_setup(context, *args, **kwargs):
executable='arm', executable='arm',
name='arm', name='arm',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
elif mode == 'core': elif mode == 'core':
@@ -73,7 +78,8 @@ def launch_setup(context, *args, **kwargs):
executable='core', executable='core',
name='core', name='core',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
elif mode == 'bio': elif mode == 'bio':
@@ -83,7 +89,8 @@ def launch_setup(context, *args, **kwargs):
executable='bio', executable='bio',
name='bio', name='bio',
output='both', output='both',
parameters=[{'launch_mode': mode}] parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
) )
) )
else: else: