Merge pull request #51 from ika-rwth-aachen/improvement/converter-lau…

…nch-file

Improve converter launch file for better configuration

etsi_its_conversion/etsi_its_conversion/launch/converter.launch.py

@@ -1,25 +1,60 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import os
+
 from ament_index_python import get_package_share_directory
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, SetParameter
+
 
 def generate_launch_description():
 
-    config = os.path.join(
-        get_package_share_directory("etsi_its_conversion"),
-        "config",
-        "params.yml"
-    )
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic_udp", default_value="~/udp/in"),
+        DeclareLaunchArgument("output_topic_udp", default_value="~/udp/out"),
+        DeclareLaunchArgument("input_topic_cam", default_value="~/cam/in"),
+        DeclareLaunchArgument("output_topic_cam", default_value="~/cam/out"),
+        DeclareLaunchArgument("input_topic_cam_ts", default_value="~/cam_ts/in"),
+        DeclareLaunchArgument("output_topic_cam_ts", default_value="~/cam_ts/out"),
+        DeclareLaunchArgument("input_topic_cpm_ts", default_value="~/cpm_ts/in"),
+        DeclareLaunchArgument("output_topic_cpm_ts", default_value="~/cpm_ts/out"),
+        DeclareLaunchArgument("input_topic_denm", default_value="~/denm/in"),
+        DeclareLaunchArgument("output_topic_denm", default_value="~/denm/out"),
+        DeclareLaunchArgument("input_topic_mapem_ts", default_value="~/mapem_ts/in"),
+        DeclareLaunchArgument("output_topic_mapem_ts", default_value="~/mapem_ts/out"),
+        DeclareLaunchArgument("input_topic_spatem_ts", default_value="~/spatem_ts/in"),
+        DeclareLaunchArgument("output_topic_spatem_ts", default_value="~/spatem_ts/out"),
+        DeclareLaunchArgument("input_topic_vam_ts", default_value="~/vam_ts/in"),
+        DeclareLaunchArgument("output_topic_vam_ts", default_value="~/vam_ts/out"),
+    ]
 
-    return LaunchDescription([
+    args = [
+        DeclareLaunchArgument("name", default_value="etsi_its_conversion_node", description="node name"),
+        DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
+        DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("etsi_its_conversion"), "config", "params.yml"), description="path to parameter file"),
+        DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
+    ]
+
+    nodes = [
         Node(
             package="etsi_its_conversion",
             executable="etsi_its_conversion_node",
-            name="etsi_its_conversion",
+            namespace=LaunchConfiguration("namespace"),
+            name=LaunchConfiguration("name"),
+            parameters=[LaunchConfiguration("params")],
+            arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+            remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
             output="screen",
             emulate_tty=True,
-            parameters=[config]
         )
-    ])
+    ]
+
+    return LaunchDescription([
+        *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
+        *nodes,
+    ])