From a8da6615e48252f9ffe843c47ddebdc680f0cee8 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Tue, 7 Oct 2025 19:28:44 +0200
Subject: [PATCH] launch

---
 src/modelec_core/launch/modelec.launch.py | 118 +++++++++++-----------
 1 file changed, 59 insertions(+), 59 deletions(-)

diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
index 9f76f1c..bb6298b 100644
--- a/src/modelec_core/launch/modelec.launch.py
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -84,67 +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':
-        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",
-                                }]
-                            )
-                        ]
-                    )
-                ]
+    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'
             )
-        )
 
-        return [
-            serial_listener,
-            pcb_odo_interface,
-            odo_restart_handler,
-            pcb_action_interface,
-        ]
-    return []
+            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):