machina_ndof_sensor_driver Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def machina_ndof_sensor_driver.generate_launch_description

(

)

def generate_launch_description():
    # Get the package share directory
    machina_ndof_sensor_driver_system_tests_dir = get_package_share_directory(
        "machina_ndof_sensor_driver_system_tests"
    )
 
    # Create the path to the param files
    sensor_1_service_param_file = (
        Path(machina_ndof_sensor_driver_system_tests_dir)
        / "param"
        / "machina_ndof_sensor_driver_service_sensor_1.param.yaml"
    )
    sensor_2_service_param_file = (
        Path(machina_ndof_sensor_driver_system_tests_dir)
        / "param"
        / "machina_ndof_sensor_driver_service_sensor_2.param.yaml"
    )
    sensors_client_param_file = (
        Path(machina_ndof_sensor_driver_system_tests_dir)
        / "param"
        / "machina_ndof_sensor_driver_client.param.yaml"
    )
 
    # Create a ComposableNodeContainer to hold the nodes
    container = ComposableNodeContainer(
        name="machina_ndof_sensor_driver_container",
        namespace="",
        package="rclcpp_components",
        executable="component_container",
        composable_node_descriptions=[
            # Create a ComposableNode for the services
            ComposableNode(
                package="machina_ndof_sensor_driver_service",
                plugin="machina::service::ndof_sensor_driver::MachinaNDofSensorDriverServiceNode",
                name="machina_ndof_sensor_driver_service_node_1",
                parameters=[sensor_1_service_param_file],
                remappings=[
                    ("get_latest_sensor_data", "get_latest_sensor_data_1"),
                ],
                extra_arguments=[{"use_intra_process_comms": True}],
            ),
            ComposableNode(
                package="machina_ndof_sensor_driver_service",
                plugin="machina::service::ndof_sensor_driver::MachinaNDofSensorDriverServiceNode",
                name="machina_ndof_sensor_driver_service_node_2",
                parameters=[sensor_2_service_param_file],
                remappings=[
                    ("get_latest_sensor_data", "get_latest_sensor_data_2"),
                ],
                extra_arguments=[{"use_intra_process_comms": True}],
            ),
            # Create a ComposableNode for the client
            ComposableNode(
                package="machina_ndof_sensor_driver_client",
                plugin="machina::client::ndof_sensor_driver::MachinaNDofSensorDriverClientNode",
                name="machina_ndof_sensor_driver_client_node",
                parameters=[sensors_client_param_file],
                remappings=[
                    ("get_latest_sensor_data_0", "get_latest_sensor_data_1"),
                    ("get_latest_sensor_data_1", "get_latest_sensor_data_2"),
                ],
                extra_arguments=[{"use_intra_process_comms": True}],
            ),
        ],
        output="screen",
        emulate_tty=True,
    )
 
    # Create the launch description and populate
    ld = LaunchDescription()
    # Add the container to the launch description
    ld.add_action(container)
 
    return ld