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Improve converter launch file for better configuration #51

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merged 3 commits into from
Dec 6, 2024
Merged

Improve converter launch file for better configuration #51

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b117a2d
improve converter launch file for better configuration
jpbusch Dec 5, 2024
72b3407
shorten launch file
lreiher Dec 6, 2024
c875798
fix order of use_sim_time param in launch file
lreiher Dec 6, 2024
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57 changes: 46 additions & 11 deletions 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 +1,60 @@
#!/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([
SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
*args,
*nodes,
])
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