modelec/modelec-marcel-ROS
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delay lidar

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acki
2025-05-27 22:07:47 -04:00
parent 660aa8ef69
commit ce25d0add4
1 changed files with 20 additions and 13 deletions
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33
src/modelec_core/launch/modelec.launch.py
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@@ -1,5 +1,5 @@
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, Shutdown, RegisterEventHandler from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, Shutdown, RegisterEventHandler, TimerAction
from launch.conditions import IfCondition from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -8,7 +8,6 @@ from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
import os import os
def generate_launch_description(): def generate_launch_description():
# Declare launch arguments # Declare launch arguments
with_gui_arg = DeclareLaunchArgument('with_gui', default_value='true', description='Launch GUI?') with_gui_arg = DeclareLaunchArgument('with_gui', default_value='true', description='Launch GUI?')
@@ -22,17 +21,23 @@ def generate_launch_description():
with_com = LaunchConfiguration('with_com') with_com = LaunchConfiguration('with_com')
with_strat = LaunchConfiguration('with_strat') with_strat = LaunchConfiguration('with_strat')
# Conditionally include RPLIDAR launch # Function to launch RPLIDAR node with a delay
rplidar_launch = IncludeLaunchDescription( def launch_rplidar_with_delay(context, *args, **kwargs):
PythonLaunchDescriptionSource( if context.launch_configurations.get('with_rplidar') == 'true':
os.path.join( # TimerAction to delay the start of RPLIDAR
get_package_share_directory('rplidar_ros'), start_rplidar = TimerAction(
'launch', period=5.0, # Delay of 10 seconds before launching RPLIDAR
'rplidar_a1_launch.py' actions=[
Node(
package='rplidar_ros',
executable='rplidar_node',
name='rplidar_node',
output='screen'
)
]
) )
), return [start_rplidar]
condition=IfCondition(with_rplidar) return []
)
# Function to launch GUI and shutdown handler # Function to launch GUI and shutdown handler
def launch_gui(context, *args, **kwargs): def launch_gui(context, *args, **kwargs):
@@ -77,7 +82,9 @@ def generate_launch_description():
with_com_arg, with_com_arg,
with_strat_arg, with_strat_arg,
rplidar_launch, # Launch the RPLIDAR node with a delay
OpaqueFunction(function=launch_rplidar_with_delay),
OpaqueFunction(function=launch_gui), OpaqueFunction(function=launch_gui),
OpaqueFunction(function=launch_com), OpaqueFunction(function=launch_com),
OpaqueFunction(function=launch_strat), OpaqueFunction(function=launch_strat),