From 8559d6045ab9c5aec17a08c17c843075ae5ff409 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 15 May 2025 16:05:34 -0400
Subject: [PATCH] launch file with some param

---
 src/modelec_core/launch/modelec.launch.py | 50 ++++++++++++-----------
 1 file changed, 27 insertions(+), 23 deletions(-)

diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
index 7ef04b9..c39d3b9 100644
--- a/src/modelec_core/launch/modelec.launch.py
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -1,22 +1,22 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, RegisterEventHandler, Shutdown, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, Shutdown
 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 launch.actions import RegisterEventHandler
 from ament_index_python.packages import get_package_share_directory
 import os
 
 
 def generate_launch_description():
-    # Declare arguments
+    # Declare launch 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',
@@ -26,23 +26,7 @@ def generate_launch_description():
     with_gui = LaunchConfiguration('with_gui')
     with_rplidar = LaunchConfiguration('with_rplidar')
 
-    # GUI node
-    gui_node = Node(
-        package='modelec_gui',
-        executable='modelec_gui',
-        name='modelec_gui',
-        condition=IfCondition(with_gui)
-    )
-
-    shutdown_on_gui_exit = RegisterEventHandler(
-        OnProcessExit(
-            target_action=gui_node,
-            on_exit=[Shutdown()],
-            condition=IfCondition(with_gui)
-        )
-    )
-
-    # RPLIDAR node
+    # RPLIDAR launch (conditionally included)
     rplidar_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(
@@ -54,17 +38,37 @@ def generate_launch_description():
         condition=IfCondition(with_rplidar)
     )
 
+    # Function to create GUI node and its shutdown handler
+    def launch_gui(context, *args, **kwargs):
+        if context.launch_configurations.get('with_gui') == 'true':
+            gui = Node(
+                package='modelec_gui',
+                executable='modelec_gui',
+                name='modelec_gui'
+            )
+            shutdown = RegisterEventHandler(
+                OnProcessExit(
+                    target_action=gui,
+                    on_exit=[Shutdown()]
+                )
+            )
+            return [gui, shutdown]
+        return []
+
     return LaunchDescription([
         with_gui_arg,
         with_rplidar_arg,
         rplidar_launch,
-        gui_node,
-        shutdown_on_gui_exit,
+
+        # Core nodes
         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')
+        Node(package='modelec_strat', executable='enemy_manager', name='enemy_manager'),
+
+        # GUI (conditionally included with its shutdown)
+        OpaqueFunction(function=launch_gui),
     ])