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# 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 (
TextSubstitution,
LaunchConfiguration,
)
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
"""Generate launch description."""
launch_args = [
DeclareLaunchArgument(
'hw_type',
default_value=TextSubstitution(text='DualSense')
)
]
nodes = [
ComposableNodeContainer(
name='joy_container',
namespace='p9n',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='joy',
plugin='joy::Joy',
name='joy',
),
ComposableNode(
package='p9n_test',
plugin='p9n_test::PlayStationTestNode',
name='p9n_test',
parameters=[{
'hw_type': LaunchConfiguration('hw_type')
}]
),
])]
return LaunchDescription(launch_args + nodes)