modelec/modelec-marcel-ROS
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launch file with sone param

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This commit is contained in:
acki
2025-05-15 15:58:59 -04:00
parent 6a50695dcc
commit 6a84b3032c
2 changed files with 41 additions and 44 deletions
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80
src/modelec_core/launch/modelec.launch.py
View File

@@ -1,28 +1,48 @@
from launch import LaunchDescription
from launch.actions import RegisterEventHandler, Shutdown, IncludeLaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler, Shutdown, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():
# Qt GUI node
# Declare arguments
with_gui_arg = DeclareLaunchArgument(
'with_gui',
default_value='true',
description='Whether to launch the GUI'
)
with_rplidar_arg = DeclareLaunchArgument(
'with_rplidar',
default_value='true',
description='Whether to launch the RPLIDAR'
)
with_gui = LaunchConfiguration('with_gui')
with_rplidar = LaunchConfiguration('with_rplidar')
# GUI node
gui_node = Node(
package='modelec_gui',
executable='modelec_gui',
name='modelec_gui'
name='modelec_gui',
condition=IfCondition(with_gui)
)
# Shut down all nodes when GUI exits
shutdown_on_gui_exit = RegisterEventHandler(
OnProcessExit(
target_action=gui_node,
on_exit=[Shutdown()]
on_exit=[Shutdown()],
condition=IfCondition(with_gui)
)
)
# Include the RPLIDAR launch file
# RPLIDAR node
rplidar_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
@@ -30,47 +50,21 @@ def generate_launch_description():
'launch',
'rplidar_a1_launch.py'
)
)
),
condition=IfCondition(with_rplidar)
)
return LaunchDescription([
with_gui_arg,
with_rplidar_arg,
rplidar_launch,
Node(
package='modelec_com',
executable='serial_listener',
name='serial_listener'
),
Node(
package='modelec_com',
executable='pcb_odo_interface',
name='pcb_odo_interface'
),
Node(
package='modelec_com',
executable='pcb_alim_interface',
name='pcb_alim_interface'
),
Node(
package='modelec_com',
executable='pcb_action_interface',
name='pcb_action_interface'
),
gui_node,
shutdown_on_gui_exit,
Node(
package='modelec_strat',
executable='strat_fsm',
name='strat_fsm'
),
Node(
package='modelec_strat',
executable='pami_manager',
name='pami_manager'
),
Node(
package='modelec_strat',
executable='enemy_manager',
name='enemy_manager'
)
Node(package='modelec_com', executable='serial_listener', name='serial_listener'),
Node(package='modelec_com', executable='pcb_odo_interface', name='pcb_odo_interface'),
Node(package='modelec_com', executable='pcb_alim_interface', name='pcb_alim_interface'),
Node(package='modelec_com', executable='pcb_action_interface', name='pcb_action_interface'),
Node(package='modelec_strat', executable='strat_fsm', name='strat_fsm'),
Node(package='modelec_strat', executable='pami_manager', name='pami_manager'),
Node(package='modelec_strat', executable='enemy_manager', name='enemy_manager')
])

5
src/modelec_strat/src/enemy_manager.cpp
View File

@@ -54,7 +54,10 @@ namespace Modelec
timer_ = this->create_wall_timer(
std::chrono::seconds(1),
std::bind(&EnemyManager::TimerCallback, this)
[this]()
{
TimerCallback();
}
);
last_publish_time_ = this->now();