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https://github.com/SHC-ASTRA/rover-ros2.git
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107 lines
3.2 KiB
Python
107 lines
3.2 KiB
Python
#!/usr/bin/env python3
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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#Prevent making __pycache__ directories
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from sys import dont_write_bytecode
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dont_write_bytecode = True
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def launch_setup(context, *args, **kwargs):
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# Retrieve the resolved value of the launch argument 'mode'
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mode = LaunchConfiguration('mode').perform(context)
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nodes = []
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if mode == 'anchor':
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# Launch every node and pass "anchor" as the parameter
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nodes.append(
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Node(
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package='arm_pkg',
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executable='arm', # change as needed
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name='arm',
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output='both',
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parameters=[{'launch_mode': mode}]
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)
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)
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nodes.append(
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Node(
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package='core_pkg',
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executable='core', # change as needed
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name='core',
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output='both',
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parameters=[{'launch_mode': mode}]
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)
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)
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# nodes.append(
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# Node(
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# package='bio_pkg',
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# executable='bio', # change as needed
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# name='bio',
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# output='both',
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# parameters=[{'launch_mode': mode}]
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# )
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# )
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nodes.append(
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Node(
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package='anchor_pkg',
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executable='anchor', # change as needed
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name='anchor',
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output='both',
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parameters=[{'launch_mode': mode}]
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)
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)
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elif mode in ['arm', 'core', 'bio']:
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# Only launch the node corresponding to the provided mode.
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if mode == 'arm':
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nodes.append(
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Node(
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package='arm_pkg',
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executable='arm',
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name='arm',
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output='both',
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parameters=[{'launch_mode': mode}]
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)
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)
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elif mode == 'core':
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nodes.append(
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Node(
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package='core_pkg',
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executable='core',
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name='core',
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output='both',
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parameters=[{'launch_mode': mode}]
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)
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)
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# elif mode == 'bio':
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# nodes.append(
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# Node(
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# package='bio_pkg',
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# executable='bio',
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# name='bio',
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# output='both',
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# parameters=[{'launch_mode': mode}]
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# )
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# )
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else:
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# If an invalid mode is provided, print an error.
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# (You might want to raise an exception or handle it differently.)
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print("Invalid mode provided. Choose one of: arm, core, bio, anchor.")
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return nodes
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def generate_launch_description():
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declare_arg = DeclareLaunchArgument(
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'mode',
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default_value='anchor',
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description='Launch mode: arm, core, bio, or anchor'
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)
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return LaunchDescription([
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declare_arg,
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OpaqueFunction(function=launch_setup)
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])
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