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improve converter launch file for better configuration
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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 |
|---|---|---|
| @@ -1,25 +1,87 @@ | ||
| #!/usr/bin/env python | ||
|
|
||
| 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, PathJoinSubstitution | ||
| from launch_ros.actions import Node, SetParameter | ||
|
|
||
| def generate_launch_description(): | ||
|
|
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| config = os.path.join( | ||
| get_package_share_directory("etsi_its_conversion"), | ||
| "config", | ||
| "params.yml" | ||
| params_arg = DeclareLaunchArgument('params', default_value='params.yml') | ||
| config = PathJoinSubstitution([ | ||
| get_package_share_directory("etsi_its_conversion"), "config", LaunchConfiguration('params') | ||
| ]) | ||
|
|
||
| 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)") | ||
|
|
||
| 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') | ||
|
|
||
| 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'))] | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| Node( | ||
| package="etsi_its_conversion", | ||
| executable="etsi_its_conversion_node", | ||
| name="etsi_its_conversion", | ||
| output="screen", | ||
| emulate_tty=True, | ||
| parameters=[config] | ||
| ) | ||
| 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 | ||
| ]) |