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This commit is contained in:
ryleu
2025-11-06 19:10:21 -06:00
parent b670bc2eda
commit c107b82a8d
15 changed files with 686 additions and 519 deletions
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138
src/anchor_pkg/launch/rover.launch.py
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@@ -2,115 +2,121 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch.substitutions import (
LaunchConfiguration,
ThisLaunchFileDir,
PathJoinSubstitution,
)
from launch_ros.actions import Node
#Prevent making __pycache__ directories
# Prevent making __pycache__ directories
from sys import dont_write_bytecode
dont_write_bytecode = True
def launch_setup(context, *args, **kwargs):
# Retrieve the resolved value of the launch argument 'mode'
mode = LaunchConfiguration('mode').perform(context)
mode = LaunchConfiguration("mode").perform(context)
nodes = []
if mode == 'anchor':
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='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="arm_pkg",
executable="arm", # change as needed
name="arm",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
nodes.append(
Node(
package='core_pkg',
executable='core', # change as needed
name='core',
output='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="core_pkg",
executable="core", # change as needed
name="core",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
nodes.append(
Node(
package='core_pkg',
executable='ptz', # change as needed
name='ptz',
output='both'
package="core_pkg",
executable="ptz", # change as needed
name="ptz",
output="both",
# Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
# on_exit=Shutdown() # Uncomment if you want to shutdown on PTZ failure
)
)
nodes.append(
Node(
package='bio_pkg',
executable='bio', # change as needed
name='bio',
output='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="bio_pkg",
executable="bio", # change as needed
name="bio",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
nodes.append(
Node(
package='anchor_pkg',
executable='anchor', # change as needed
name='anchor',
output='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="anchor_pkg",
executable="anchor", # change as needed
name="anchor",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
elif mode in ['arm', 'core', 'bio', 'ptz']:
elif mode in ["arm", "core", "bio", "ptz"]:
# Only launch the node corresponding to the provided mode.
if mode == 'arm':
if mode == "arm":
nodes.append(
Node(
package='arm_pkg',
executable='arm',
name='arm',
output='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="arm_pkg",
executable="arm",
name="arm",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
elif mode == 'core':
elif mode == "core":
nodes.append(
Node(
package='core_pkg',
executable='core',
name='core',
output='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="core_pkg",
executable="core",
name="core",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
elif mode == 'bio':
elif mode == "bio":
nodes.append(
Node(
package='bio_pkg',
executable='bio',
name='bio',
output='both',
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
package="bio_pkg",
executable="bio",
name="bio",
output="both",
parameters=[{"launch_mode": mode}],
on_exit=Shutdown(),
)
)
elif mode == 'ptz':
elif mode == "ptz":
nodes.append(
Node(
package='core_pkg',
executable='ptz',
name='ptz',
output='both',
on_exit=Shutdown(), #on fail, shutdown if this was the only node to be launched
package="core_pkg",
executable="ptz",
name="ptz",
output="both",
on_exit=Shutdown(), # on fail, shutdown if this was the only node to be launched
)
)
else:
@@ -119,14 +125,12 @@ def launch_setup(context, *args, **kwargs):
return nodes
def generate_launch_description():
declare_arg = DeclareLaunchArgument(
'mode',
default_value='anchor',
description='Launch mode: arm, core, bio, anchor, or ptz'
"mode",
default_value="anchor",
description="Launch mode: arm, core, bio, anchor, or ptz",
)
return LaunchDescription([
declare_arg,
OpaqueFunction(function=launch_setup)
])
return LaunchDescription([declare_arg, OpaqueFunction(function=launch_setup)])