modelec/modelec-marcel-ROS
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update launch file

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This commit is contained in:
acki
2025-05-14 23:02:30 -04:00
parent ce9c17be2b
commit 704dc1b50c
2 changed files with 37 additions and 21 deletions
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28
src/modelec_core/launch/modelec.launch.py
View File

@@ -1,7 +1,10 @@
from launch import LaunchDescription
from launch.actions import RegisterEventHandler, Shutdown
from launch.actions import RegisterEventHandler, Shutdown, IncludeLaunchDescription
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
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
@@ -19,7 +22,20 @@ def generate_launch_description():
)
)
# Include the RPLIDAR launch file
rplidar_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
get_package_share_directory('rplidar_ros'),
'launch',
'view_rplidar_a1_launch.py'
)
)
)
return LaunchDescription([
rplidar_launch,
Node(
package='modelec_com',
executable='serial_listener',
@@ -42,11 +58,6 @@ def generate_launch_description():
),
gui_node,
shutdown_on_gui_exit,
Node(
package='modelec_core',
executable='speed_result',
name='speed_result'
),
Node(
package='modelec_strat',
executable='strat_fsm',
@@ -56,5 +67,10 @@ def generate_launch_description():
package='modelec_strat',
executable='pami_manager',
name='pami_manager'
),
Node(
package='modelec_strat',
executable='enemy_manager',
name='enemy_manager'
)
])

30
src/modelec_core/launch/test.modelec.launch.py
View File

@@ -30,23 +30,18 @@ def generate_launch_description():
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_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_core',
executable='speed_result',
name='speed_result'
),
Node(
package='modelec_strat',
executable='strat_fsm',
@@ -56,5 +51,10 @@ def generate_launch_description():
package='modelec_strat',
executable='pami_manager',
name='pami_manager'
),
Node(
package='modelec_strat',
executable='enemy_manager',
name='enemy_manager'
)
])