modelec/modelec-marcel-ROS
1
0
Fork 0
mirror of https://github.com/modelec/modelec-marcel-ROS.git synced 2026-01-18 16:47:43 +01:00
Code Issues Packages Projects Releases Wiki Activity

change control

Browse Source
This commit is contained in:
acki
2025-12-17 17:59:50 +01:00
parent f4b9c037b9
commit cb5684e516
1 changed files with 21 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
src/modelec_core/launch/modelec.launch.py
View File

@@ -11,6 +11,7 @@ def generate_launch_description():
with_rplidar_arg = DeclareLaunchArgument('with_rplidar', default_value='true', description='Launch RPLIDAR?') with_rplidar_arg = DeclareLaunchArgument('with_rplidar', default_value='true', description='Launch RPLIDAR?')
with_com_arg = DeclareLaunchArgument('with_com', default_value='true', description='Launch COM nodes?') with_com_arg = DeclareLaunchArgument('with_com', default_value='true', description='Launch COM nodes?')
with_strat_arg = DeclareLaunchArgument('with_strat', default_value='true', description='Launch strategy nodes?') with_strat_arg = DeclareLaunchArgument('with_strat', default_value='true', description='Launch strategy nodes?')
with_joy_arg = DeclareLaunchArgument('with_joy', default_value='true', description='Launch joystick node?')
channel_type = LaunchConfiguration('channel_type', default='serial') channel_type = LaunchConfiguration('channel_type', default='serial')
serial_port = LaunchConfiguration('serial_port', default='/dev/rplidar') serial_port = LaunchConfiguration('serial_port', default='/dev/rplidar')
@@ -128,6 +129,24 @@ def generate_launch_description():
] ]
return [] return []
# ----------------------------
# Joy node
# ----------------------------
def launch_joy(context, *args, **kwargs):
if context.launch_configurations.get('with_joy', 'true') == 'true':
joy = Node(
package='joy',
executable='joy_node',
name='joy_node',
output='screen',
parameters=[{
'dev': '/dev/input/js0', # optional: specify your joystick device
'deadzone': 0.05
}]
)
return [joy]
return []
# ---------------------------- # ----------------------------
# Final launch description # Final launch description
# ---------------------------- # ----------------------------
@@ -144,11 +163,13 @@ def generate_launch_description():
with_rplidar_arg, with_rplidar_arg,
with_com_arg, with_com_arg,
with_strat_arg, with_strat_arg,
with_joy_arg,
OpaqueFunction(function=launch_rplidar_restart_if_needed), OpaqueFunction(function=launch_rplidar_restart_if_needed),
OpaqueFunction(function=launch_gui), OpaqueFunction(function=launch_gui),
OpaqueFunction(function=launch_com), OpaqueFunction(function=launch_com),
OpaqueFunction(function=launch_strat), OpaqueFunction(function=launch_strat),
OpaqueFunction(function=launch_joy),
]) ])
# to run in debug : , prefix=['xterm -e gdb -ex run --args'] # to run in debug : , prefix=['xterm -e gdb -ex run --args']