# 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)