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etsi_its_conversion/etsi_its_conversion/launch/converter.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,87 +1,60 @@ | ||
| #!/usr/bin/env python | ||
| #!/usr/bin/env python3 | ||
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| import os | ||
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| from ament_index_python import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration, PathJoinSubstitution | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node, SetParameter | ||
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|
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| def generate_launch_description(): | ||
|
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| params_arg = DeclareLaunchArgument('params', default_value='params.yml') | ||
| config = PathJoinSubstitution([ | ||
| get_package_share_directory("etsi_its_conversion"), "config", LaunchConfiguration('params') | ||
| ]) | ||
|
|
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| node_name_arg = DeclareLaunchArgument('node_name', default_value='etsi_its_conversion') | ||
| use_sim_time_arg = DeclareLaunchArgument('use_sim_time', default_value='False') | ||
| log_level_arg = DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)") | ||
| 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"), | ||
| ] | ||
|
|
||
| input_udp_topic_arg = DeclareLaunchArgument('input_udp_topic', default_value='~/udp/in') | ||
| output_udp_topic_arg = DeclareLaunchArgument('output_udp_topic', default_value='~/udp/out') | ||
| input_cam_topic_arg = DeclareLaunchArgument('input_cam_topic', default_value='~/cam/in') | ||
| output_cam_topic_arg = DeclareLaunchArgument('output_cam_topic', default_value='~/cam/out') | ||
| input_cam_ts_topic_arg = DeclareLaunchArgument('input_cam_ts_topic', default_value='~/cam_ts/in') | ||
| output_cam_ts_topic_arg = DeclareLaunchArgument('output_cam_ts_topic', default_value='~/cam_ts/out') | ||
| input_cpm_ts_topic_arg = DeclareLaunchArgument('input_cpm_ts_topic', default_value='~/cpm_ts/in') | ||
| output_cpm_ts_topic_arg = DeclareLaunchArgument('output_cpm_ts_topic', default_value='~/cpm_ts/out') | ||
| input_denm_topic_arg = DeclareLaunchArgument('input_denm_topic', default_value='~/denm/in') | ||
| output_denm_topic_arg = DeclareLaunchArgument('output_denm_topic', default_value='~/denm/out') | ||
| input_mapem_ts_topic_arg = DeclareLaunchArgument('input_mapem_ts_topic', default_value='~/mapem_ts/in') | ||
| output_mapem_ts_topic_arg = DeclareLaunchArgument('output_mapem_ts_topic', default_value='~/mapem_ts/out') | ||
| input_spatem_ts_topic_arg = DeclareLaunchArgument('input_spatem_ts_topic', default_value='~/spatem_ts/in') | ||
| output_spatem_ts_topic_arg = DeclareLaunchArgument('output_spatem_ts_topic', default_value='~/spatem_ts/out') | ||
| input_vam_ts_topic_arg = DeclareLaunchArgument('input_vam_ts_topic', default_value='~/vam_ts/in') | ||
| output_vam_ts_topic_arg = DeclareLaunchArgument('output_vam_ts_topic', default_value='~/vam_ts/out') | ||
| 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, | ||
| ] | ||
|
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||
| node = Node( | ||
| package="etsi_its_conversion", | ||
| executable="etsi_its_conversion_node", | ||
| name=LaunchConfiguration('node_name'), | ||
| namespace="", | ||
| output="screen", | ||
| emulate_tty=True, | ||
| arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")], | ||
| parameters=[config], | ||
| remappings=[('~/udp/in', LaunchConfiguration('input_udp_topic')), | ||
| ('~/udp/out', LaunchConfiguration('output_udp_topic')), | ||
| ('~/cam/in', LaunchConfiguration('input_cam_topic')), | ||
| ('~/cam/out', LaunchConfiguration('output_cam_topic')), | ||
| ('~/cam_ts/in', LaunchConfiguration('input_cam_ts_topic')), | ||
| ('~/cam_ts/out', LaunchConfiguration('output_cam_ts_topic')), | ||
| ('~/cpm_ts/in', LaunchConfiguration('input_cpm_ts_topic')), | ||
| ('~/cpm_ts/out', LaunchConfiguration('output_cpm_ts_topic')), | ||
| ('~/denm/in', LaunchConfiguration('input_denm_topic')), | ||
| ('~/denm/out', LaunchConfiguration('output_denm_topic')), | ||
| ('~/mapem_ts/in', LaunchConfiguration('input_mapem_ts_topic')), | ||
| ('~/mapem_ts/out', LaunchConfiguration('output_mapem_ts_topic')), | ||
| ('~/spatem_ts/in', LaunchConfiguration('input_spatem_ts_topic')), | ||
| ('~/spatem_ts/out', LaunchConfiguration('output_spatem_ts_topic')), | ||
| ('~/vam_ts/in', LaunchConfiguration('input_vam_ts_topic')), | ||
| ('~/vam_ts/out', LaunchConfiguration('output_vam_ts_topic'))] | ||
| ) | ||
| nodes = [ | ||
| Node( | ||
| package="etsi_its_conversion", | ||
| executable="etsi_its_conversion_node", | ||
| 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, | ||
| ) | ||
| ] | ||
|
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||
| return LaunchDescription([ | ||
| params_arg, | ||
| node_name_arg, | ||
| use_sim_time_arg, | ||
| log_level_arg, | ||
| input_udp_topic_arg, | ||
| output_udp_topic_arg, | ||
| input_cam_topic_arg, | ||
| output_cam_topic_arg, | ||
| input_cam_ts_topic_arg, | ||
| output_cam_ts_topic_arg, | ||
| input_cpm_ts_topic_arg, | ||
| output_cpm_ts_topic_arg, | ||
| input_denm_topic_arg, | ||
| output_denm_topic_arg, | ||
| input_mapem_ts_topic_arg, | ||
| output_mapem_ts_topic_arg, | ||
| input_spatem_ts_topic_arg, | ||
| output_spatem_ts_topic_arg, | ||
| input_vam_ts_topic_arg, | ||
| output_vam_ts_topic_arg, | ||
| SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')), | ||
| node | ||
| ]) | ||
| SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")), | ||
| *args, | ||
| *nodes, | ||
| ]) |