mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
137 lines
4.1 KiB
Python
137 lines
4.1 KiB
Python
#!/usr/bin/env python3
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
|
|
from launch.substitutions import (
|
|
LaunchConfiguration,
|
|
ThisLaunchFileDir,
|
|
PathJoinSubstitution,
|
|
)
|
|
from launch_ros.actions import Node
|
|
|
|
|
|
# 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)
|
|
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="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(),
|
|
)
|
|
)
|
|
nodes.append(
|
|
Node(
|
|
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(),
|
|
)
|
|
)
|
|
nodes.append(
|
|
Node(
|
|
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"]:
|
|
# Only launch the node corresponding to the provided mode.
|
|
if mode == "arm":
|
|
nodes.append(
|
|
Node(
|
|
package="arm_pkg",
|
|
executable="arm",
|
|
name="arm",
|
|
output="both",
|
|
parameters=[{"launch_mode": mode}],
|
|
on_exit=Shutdown(),
|
|
)
|
|
)
|
|
elif mode == "core":
|
|
nodes.append(
|
|
Node(
|
|
package="core_pkg",
|
|
executable="core",
|
|
name="core",
|
|
output="both",
|
|
parameters=[{"launch_mode": mode}],
|
|
on_exit=Shutdown(),
|
|
)
|
|
)
|
|
elif mode == "bio":
|
|
nodes.append(
|
|
Node(
|
|
package="bio_pkg",
|
|
executable="bio",
|
|
name="bio",
|
|
output="both",
|
|
parameters=[{"launch_mode": mode}],
|
|
on_exit=Shutdown(),
|
|
)
|
|
)
|
|
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
|
|
)
|
|
)
|
|
else:
|
|
# If an invalid mode is provided, print an error.
|
|
print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
|
|
|
|
return nodes
|
|
|
|
|
|
def generate_launch_description():
|
|
declare_arg = DeclareLaunchArgument(
|
|
"mode",
|
|
default_value="anchor",
|
|
description="Launch mode: arm, core, bio, anchor, or ptz",
|
|
)
|
|
|
|
return LaunchDescription([declare_arg, OpaqueFunction(function=launch_setup)])
|