yjyoon / ros2_플레이스테이션_컨트롤러 star
Ar-Ray 2023-03-04
Create teleop_turtlesim.launch.py
@c656e4ccf23819c667f27c09e20ddc3c0ea5bc59
 
c656e4c
p9n_bringup/launch/teleop_turtlesim.launch.py (added)
+++ p9n_bringup/launch/teleop_turtlesim.launch.py
@@ -0,0 +1,71 @@
+# 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, 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
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