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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,142 @@ | ||
| import os | ||
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| from launch import LaunchDescription | ||
| from launch.actions import IncludeLaunchDescription,ExecuteProcess | ||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
| from launch.substitutions import LaunchConfiguration,PathJoinSubstitution,TextSubstitution | ||
| from ament_index_python.packages import get_package_share_path | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.actions import TimerAction | ||
| from launch.actions import DeclareLaunchArgument | ||
| import subprocess | ||
| from launch.actions import DeclareLaunchArgument,EmitEvent, RegisterEventHandler,ExecuteProcess | ||
| from launch.event_handlers import (OnExecutionComplete, OnProcessExit, | ||
| OnProcessIO, OnProcessStart, OnShutdown) | ||
| from datetime import datetime | ||
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| def generate_launch_description(): | ||
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| exp_name_value = LaunchConfiguration("exp_name") | ||
| package_path = FindPackageShare("pronto_tuning") | ||
| exp_name_arg = DeclareLaunchArgument("exp_name",default_value="Exp_1_cmd.yaml") | ||
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| #start qualisys | ||
| qualysis = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| FindPackageShare("qualisys_driver") | ||
| , 'launch', 'qualisys.launch.py']) | ||
| )) | ||
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| # qualysis = IncludeLaunchDescription( | ||
| # PythonLaunchDescriptionSource( | ||
| # PathJoinSubstitution([ | ||
| # FindPackageShare("pronto_ros2_node") | ||
| # , 'launch', 'qualisys.launch.py']) | ||
| # )) | ||
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| bag_base_path = "/home/ros/docker_pronto_ws/bags/" | ||
| #starts controller | ||
| IMU_Broadcaster_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["IMU_Broadcaster", "--controller-manager", "/controller_manager"], | ||
| ) | ||
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| ordered_IMU_Broadcaster_spawner = TimerAction(actions=[IMU_Broadcaster_spawner],period=1.0) | ||
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| state_broadcaster_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["state_broadcaster", "--controller-manager", "/controller_manager"], | ||
| ) | ||
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| ordered_state_broadcaster_spawner = RegisterEventHandler( | ||
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| OnProcessExit(target_action=IMU_Broadcaster_spawner, on_exit=[state_broadcaster_spawner]) | ||
| ) | ||
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| omni_controller_spawner = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["omni_controller", "--controller-manager", "/controller_manager"], | ||
| ) | ||
| ordered_omni_controller_spawner = RegisterEventHandler( | ||
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| OnProcessExit(target_action=state_broadcaster_spawner, on_exit=[omni_controller_spawner]) | ||
| ) | ||
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| rf2o_odom = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| FindPackageShare("rf2o") | ||
| , 'launch', 'rf2o_laser_odometry.launch.py']) | ||
| )) | ||
| ordered_rf2o_odom = RegisterEventHandler( | ||
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| OnProcessExit(target_action=IMU_Broadcaster_spawner, on_exit=[rf2o_odom]) | ||
| ) | ||
|
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| #start bag | ||
| time = datetime.now() | ||
|
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| time_str = time.strftime("%Y_%m_%d_%H_%M_%S") | ||
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| bag_path = bag_base_path + "Exp_TeleOp" +time_str | ||
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| start_bag = ExecuteProcess( | ||
| cmd=['ros2', 'bag', 'record','-a','-s','mcap', '-o', bag_path ], | ||
| output='screen' | ||
| ) | ||
|
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| command_launch = joy_node = Node( | ||
| package="omni_mulinex_joystic", | ||
| executable="omni_mul_joystic_node", | ||
| output="screen", | ||
| parameters=[ | ||
| {"bag_folder": "/home/ros/docker_pronto_ws/"}, | ||
| {"sup_vel_x": 0.5}, | ||
| {"sup_vel_y": 0.5}, | ||
| {"sup_omega": 1.0}, | ||
| {"deadzone_joy": 0.1} | ||
| ] | ||
| ) | ||
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| delayed_start_exp = TimerAction( | ||
| actions=[command_launch], period=5.0 | ||
| ) | ||
| delayed_start = TimerAction( | ||
| actions=[delayed_start_exp,start_bag], period=5.0 | ||
| ) | ||
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| # ordered_command_launch = RegisterEventHandler( | ||
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| # OnProcessExit(target_action=IMU_Broadcaster_spawner, on_exit=[command_launch]) | ||
| # ) | ||
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| return LaunchDescription([ | ||
| qualysis, | ||
| exp_name_arg, | ||
| ordered_omni_controller_spawner, | ||
| ordered_state_broadcaster_spawner, | ||
| ordered_IMU_Broadcaster_spawner, | ||
| ordered_rf2o_odom, | ||
| delayed_start, | ||
| Node( | ||
| package="joy", | ||
| executable="joy_node", | ||
| output="screen" | ||
| ) | ||
| # ordered_start_bag | ||
| # ordered_command_launch | ||
| # start_bag | ||
| ]) | ||
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