cooperative_lanechange_launch Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def cooperative_lanechange_launch.generate_launch_description

(

)

Definition at line 31 of file cooperative_lanechange_launch.py.

def generate_launch_description():
 
    # 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('cooperative_lanechange'), 'config/parameters.yaml')
 
        
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='cooperative_lanechange_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                    package='cooperative_lanechange',
                    plugin='cooperative_lanechange::CooperativeLaneChangePlugin',
                    name='cooperative_lanechange',
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                        {'--log-level' : log_level }
                    ],
                    parameters=[ param_file_path ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])