carma_cloud_client_launch Namespace Reference

Functions
def	open_tunnels ()
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def carma_cloud_client_launch.generate_launch_description

(

)

Definition at line 57 of file carma_cloud_client_launch.py.

def generate_launch_description():
 
    open_tunnels()
    # Declare the log_level launch argument
    log_level = LaunchConfiguration('log_level')
    declare_log_level_arg = DeclareLaunchArgument(
        name ='log_level', default_value='WARN')
    
    # Get parameter file path
    param_file_path = os.path.join(
        get_package_share_directory('carma_cloud_client'), 'config/parameters.yaml')
 
        
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='carma_cloud_client_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                    package='carma_cloud_client',
                    plugin='carma_cloud_client::CarmaCloudClient',
                    name='carma_cloud_client',
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                        {'--log-level' : log_level }
                    ],
                    parameters=[ param_file_path ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])

References open_tunnels().

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open_tunnels()

def carma_cloud_client_launch.open_tunnels

(

)

Definition at line 33 of file carma_cloud_client_launch.py.

def open_tunnels():
 
    REMOTE_USER="ubuntu"
    REMOTE_ADDR="www.carma-cloud.com"
    KEY_FILE="carma-cloud-test-1.pem"
    HOST_PORT="33333" # This port is forwarded to remote host (carma-cloud)
    REMOTE_PORT="33333" # This port is forwarded to local host 
 
    param_launch_path = os.path.join(
        get_package_share_directory('carma_cloud_client'), 'launch/scripts')
        
    
    cmd = param_launch_path + '/open_tunnels.sh'
 
    subprocess.check_call(['chmod','u+x', cmd])
 
    key_path = "/opt/carma/vehicle/calibration/cloud_permission"
    
    key = key_path + '/' + KEY_FILE
 
    subprocess.check_call(['sudo','chmod','400', key])
    subprocess.check_call(['sudo', cmd, '-u', REMOTE_USER, '-a', REMOTE_ADDR, '-k', key, '-p', REMOTE_PORT,  '-r', HOST_PORT])
 
 

Referenced by generate_launch_description().

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