# Copyright 2022 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 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='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')) ], ) ], ) ld = LaunchDescription() ld.add_action(hw_type_arg) ld.add_action(topic_name_arg) ld.add_action(joy_container) return ld