Commit @c625b81aa5205d54241a6994ad60a49a57742e38 - yjyoon/ros2_플레이스테이션

008090c

c625b81

p9n_example/launch/display.launch.py

--- p9n_example/launch/display.launch.py

+++ p9n_example/launch/display.launch.py


 # limitations under the License.
 
 from launch import LaunchDescription
-from launch_ros.actions import ComposableNodeContainer, Node
+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',

                     plugin='joy::Joy',
                     name='joy',
                 ),
+                ComposableNode(
+                    package='p9n_example',
+                    plugin='p9n_example::DisplayNode',
+                    name='display_node',
+                    parameters=[{
+                        'hw_type': LaunchConfiguration('hw_type')
+                    }]
+                )
             ]),
-        Node(
-            name='display_node',
-            package='p9n_example',
-            executable='display_node_exec'),
     ]
 
-    return LaunchDescription(nodes)
+    return LaunchDescription(launch_args + nodes)

008090c

c625b81

p9n_example/src/display_node.cpp

--- p9n_example/src/display_node.cpp

+++ p9n_example/src/display_node.cpp


 {
 
   const std::string hw_name = this->declare_parameter<std::string>(
-    "controller_type", p9n_interface::HW_NAME::DUALSENSE);
+    "hw_type", p9n_interface::HW_NAME::DUALSENSE);
 
   try {
     this->hw_type_ = p9n_interface::getHwType(hw_name);

008090c

c625b81

p9n_interface/src/p9n_interface.cpp

--- p9n_interface/src/p9n_interface.cpp

+++ p9n_interface/src/p9n_interface.cpp


 
   switch (this->HW_TYPE_) {
     case HW_TYPE::DUALSHOCK3:
-      throw std::runtime_error("Not supported yet.");
+      throw std::runtime_error("DualShock3 not supported yet.");
     case HW_TYPE::DUALSHOCK4:
-      throw std::runtime_error("Not supported yet.");
+      throw std::runtime_error("DualShock4 not supported yet.");
     case HW_TYPE::DUALSENSE:
       {
         using BTN_IDX = BUTTONS_DUALSENSE;

008090c

c625b81

p9n_test/launch/test.launch.py

--- p9n_test/launch/test.launch.py

+++ p9n_test/launch/test.launch.py


 # 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',

                 ComposableNode(
                     package='p9n_test',
                     plugin='p9n_test::PlayStationTestNode',
-                    name='p9n_test'
+                    name='p9n_test',
+                    parameters=[{
+                        'hw_type': LaunchConfiguration('hw_type')
+                    }]
                 ),
             ])]
 
-    return LaunchDescription(nodes)
+    return LaunchDescription(launch_args + nodes)

008090c

c625b81

p9n_test/src/p9n_test_node.cpp

--- p9n_test/src/p9n_test_node.cpp

+++ p9n_test/src/p9n_test_node.cpp


 : rclcpp::Node("p9n_test_node", options)
 {
   const std::string hw_name = this->declare_parameter<std::string>(
-    "controller_type", p9n_interface::HW_NAME::DUALSENSE);
+    "hw_type", p9n_interface::HW_NAME::DUALSENSE);
 
   try {
     this->hw_type_ = p9n_interface::getHwType(hw_name);

...	...	@@ -13,12 +13,24 @@
13	13	# limitations under the License.
14	14
15	15	from launch import LaunchDescription
16		-from launch_ros.actions import ComposableNodeContainer, Node
	16	+from launch.actions import DeclareLaunchArgument
	17	+from launch.substitutions import (
	18	+ TextSubstitution,
	19	+ LaunchConfiguration,
	20	+)
	21	+
	22	+from launch_ros.actions import ComposableNodeContainer
17	23	from launch_ros.descriptions import ComposableNode
18	24
19	25
20	26	def generate_launch_description():
21	27	"""Generate launch description."""
	28	+ launch_args = [
	29	+ DeclareLaunchArgument(
	30	+ 'hw_type',
	31	+ default_value=TextSubstitution(text='Dualsense')
	32	+ )
	33	+ ]
22	34	nodes = [
23	35	ComposableNodeContainer(
24	36	name='joy_container',
...	...	@@ -31,11 +43,15 @@
31	43	plugin='joy::Joy',
32	44	name='joy',
33	45	),
	46	+ ComposableNode(
	47	+ package='p9n_example',
	48	+ plugin='p9n_example::DisplayNode',
	49	+ name='display_node',
	50	+ parameters=[{
	51	+ 'hw_type': LaunchConfiguration('hw_type')
	52	+ }]
	53	+ )
34	54	]),
35		- Node(
36		- name='display_node',
37		- package='p9n_example',
38		- executable='display_node_exec'),
39	55	]
40	56
41		- return LaunchDescription(nodes)
	57	+ return LaunchDescription(launch_args + nodes)

...	...	@@ -23,7 +23,7 @@
23	23	{
24	24
25	25	const std::string hw_name = this->declare_parameter<std::string>(
26		- "controller_type", p9n_interface::HW_NAME::DUALSENSE);
	26	+ "hw_type", p9n_interface::HW_NAME::DUALSENSE);
27	27
28	28	try {
29	29	this->hw_type_ = p9n_interface::getHwType(hw_name);

...	...	@@ -13,12 +13,24 @@
13	13	# limitations under the License.
14	14
15	15	from launch import LaunchDescription
	16	+from launch.actions import DeclareLaunchArgument
	17	+from launch.substitutions import (
	18	+ TextSubstitution,
	19	+ LaunchConfiguration,
	20	+)
	21	+
16	22	from launch_ros.actions import ComposableNodeContainer
17	23	from launch_ros.descriptions import ComposableNode
18	24
19	25
20	26	def generate_launch_description():
21	27	"""Generate launch description."""
	28	+ launch_args = [
	29	+ DeclareLaunchArgument(
	30	+ 'hw_type',
	31	+ default_value=TextSubstitution(text='Dualsense')
	32	+ )
	33	+ ]
22	34	nodes = [
23	35	ComposableNodeContainer(
24	36	name='joy_container',
...	...	@@ -34,8 +46,11 @@
34	46	ComposableNode(
35	47	package='p9n_test',
36	48	plugin='p9n_test::PlayStationTestNode',
37		- name='p9n_test'
	49	+ name='p9n_test',
	50	+ parameters=[{
	51	+ 'hw_type': LaunchConfiguration('hw_type')
	52	+ }]
38	53	),
39	54	])]
40	55
41		- return LaunchDescription(nodes)
	56	+ return LaunchDescription(launch_args + nodes)

...	...	@@ -69,9 +69,9 @@
69	69
70	70	switch (this->HW_TYPE_) {
71	71	case HW_TYPE::DUALSHOCK3:
72		- throw std::runtime_error("Not supported yet.");
	72	+ throw std::runtime_error("DualShock3 not supported yet.");
73	73	case HW_TYPE::DUALSHOCK4:
74		- throw std::runtime_error("Not supported yet.");
	74	+ throw std::runtime_error("DualShock4 not supported yet.");
75	75	case HW_TYPE::DUALSENSE:
76	76	{
77	77	using BTN_IDX = BUTTONS_DUALSENSE;

...	...	@@ -20,7 +20,7 @@
20	20	: rclcpp::Node("p9n_test_node", options)
21	21	{
22	22	const std::string hw_name = this->declare_parameter<std::string>(
23		- "controller_type", p9n_interface::HW_NAME::DUALSENSE);
	23	+ "hw_type", p9n_interface::HW_NAME::DUALSENSE);
24	24
25	25	try {
26	26	this->hw_type_ = p9n_interface::getHwType(hw_name);

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