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launch

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This commit is contained in:
acki
2025-10-07 19:26:10 +02:00
parent fee77aa581
commit 398c9f805a
1 changed files with 61 additions and 16 deletions
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77
src/modelec_core/launch/modelec.launch.py
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@@ -84,22 +84,67 @@ def generate_launch_description():
return []
# Function to launch COM nodes
def launch_com(context, *args, **kwargs):
if context.launch_configurations.get('with_com') == 'true':
return [
Node(package='modelec_com', executable='serial_listener', name='serial_listener'),
Node(package='modelec_com', executable='pcb_odo_interface', name='pcb_odo_interface', parameters=[{
'serial_port': "/tmp/ODO",
'baudrate': 115200,
'name': "pcb_odo",
}]),
Node(package='modelec_com', executable='pcb_action_interface', name='pcb_action_interface', parameters=[{
'serial_port': "/tmp/ACTION",
'baudrate': 115200,
'name': "pcb_action",
}]),
]
return []
def launch_com(context, *args, **kwargs):
if context.launch_configurations.get('with_com') == 'true':
serial_listener = Node(
package='modelec_com',
executable='serial_listener',
name='serial_listener'
)
pcb_odo_interface = Node(
package='modelec_com',
executable='pcb_odo_interface',
name='pcb_odo_interface',
parameters=[{
'serial_port': "/tmp/ODO",
'baudrate': 115200,
'name': "pcb_odo",
}]
)
pcb_action_interface = Node(
package='modelec_com',
executable='pcb_action_interface',
name='pcb_action_interface',
parameters=[{
'serial_port': "/tmp/ACTION",
'baudrate': 115200,
'name': "pcb_action",
}]
)
# Restart handler for pcb_odo_interface
odo_restart_handler = RegisterEventHandler(
OnProcessExit(
target_action=pcb_odo_interface,
on_exit=[
TimerAction(
period=5.0, # wait 5 seconds before restart
actions=[
Node(
package='modelec_com',
executable='pcb_odo_interface',
name='pcb_odo_interface',
parameters=[{
'serial_port': "/tmp/ODO",
'baudrate': 115200,
'name': "pcb_odo",
}]
)
]
)
]
)
)
return [
serial_listener,
pcb_odo_interface,
odo_restart_handler,
pcb_action_interface,
]
return []
# Function to launch strategy nodes
def launch_strat(context, *args, **kwargs):