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# Copyright 2023 HarvestX Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.substitutions import TextSubstitution
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
"""Generate launch description."""
hw_type_arg = DeclareLaunchArgument(
'hw_type', default_value=TextSubstitution(text='DualSense'))
topic_name_arg = DeclareLaunchArgument(
'topic_name', default_value=TextSubstitution(text='/turtle1/cmd_vel'))
joy_container = ComposableNodeContainer(
name='joy_container',
package='rclcpp_components',
executable='component_container',
namespace='',
composable_node_descriptions=[
ComposableNode(
package='joy',
plugin='joy::Joy',
name='joy',
namespace='',
),
ComposableNode(
package='p9n_node',
plugin='p9n_node::TeleopTwistJoyNode',
name='teleop_twist_joy_node',
namespace='',
parameters=[{
'hw_type': LaunchConfiguration('hw_type')
}],
remappings=[
('cmd_vel', LaunchConfiguration('topic_name'))
],
)
],
)
turtlesim = Node(
name='turtlesim',
package='turtlesim',
executable='turtlesim_node'
)
ld = LaunchDescription()
ld.add_action(hw_type_arg)
ld.add_action(topic_name_arg)
ld.add_action(joy_container)
ld.add_action(turtlesim)
return ld