drivers Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def drivers.generate_launch_description

(

)

Launch the subsystem controller for the hardware interface subsystem.
The actual drivers will not be launched in this file and will instead be launched in the carma-config.

Definition at line 31 of file drivers.launch.py.

def generate_launch_description():
    """
    Launch the subsystem controller for the hardware interface subsystem.
    The actual drivers will not be launched in this file and will instead be launched in the carma-config.
    """
 
    vehicle_config_param_file = LaunchConfiguration('vehicle_config_param_file')
    declare_vehicle_config_param_file_arg = DeclareLaunchArgument(
        name = 'vehicle_config_param_file',
        default_value = "/opt/carma/vehicle/config/VehicleConfigParams.yaml",
        description = "Path to file contain vehicle configuration parameters"
    )
 
    use_sim_time = LaunchConfiguration('use_sim_time')
    declare_use_sim_time_arg = DeclareLaunchArgument(
        name = 'use_sim_time',
        default_value = "False",
        description = "True if simulation mode is on"
    )
 
    # Log level is set from CARMA_ROS_LOGGING_CONFIG, generated from carma_rosconsole.conf in the vehicle config dir (carma-config)
    env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
 
    subsystem_controller_default_param_file = os.path.join(
        get_package_share_directory('subsystem_controllers'), 'config/drivers_controller_config.yaml')
 
    subsystem_controller_param_file = LaunchConfiguration('subsystem_controller_param_file')
    declare_subsystem_controller_param_file_arg = DeclareLaunchArgument(
        name = 'subsystem_controller_param_file',
        default_value = subsystem_controller_default_param_file,
        description = "Path to file containing override parameters for the subsystem controller"
    )
 
    vehicle_config_dir = LaunchConfiguration('vehicle_config_dir')
    declare_vehicle_config_dir_arg = DeclareLaunchArgument(
        name = 'vehicle_config_dir',
        default_value = "/opt/carma/vehicle/config",
        description = "Path to vehicle configuration directory populated by carma-config"
    )
 
    # Declare the global_params_override_file launch argument
    # Parameters in this file will override any parameters loaded in their respective packages
    global_params_override_file = LaunchConfiguration('global_params_override_file')
    declare_global_params_override_file_arg = DeclareLaunchArgument(
        name = 'global_params_override_file',
        default_value = [vehicle_config_dir, "/GlobalParamsOverride.yaml"],
        description = "Path to global file containing the parameters overwrite"
    )
 
    lightbar_manager_param_file = os.path.join(
        get_package_share_directory('lightbar_manager'), 'config/params.yaml')
 
    lightbar_manager_container = ComposableNodeContainer(
        package='carma_ros2_utils', # rclcpp_components
        name='lightbar_manager_container',
        executable='lifecycle_component_wrapper_mt',
        namespace=GetCurrentNamespace(),
        composable_node_descriptions=[
            ComposableNode(
                package='lightbar_manager',
                plugin='lightbar_manager::LightBarManager',
                name='lightbar_manager',
                extra_arguments=[
                    {'use_intra_process_comms': True},
                    {'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
                ],
                remappings=[
                    ("state", [ EnvironmentVariable('CARMA_GUIDE_NS', default_value=''), "/state" ] ),
                    ("set_lights", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/lightbar/set_lights" ] )
                ],
                parameters=[
                    lightbar_manager_param_file,
                    vehicle_config_param_file,
                    global_params_override_file
                ]
            )
        ]
    )
 
    # subsystem_controller which orchestrates the lifecycle of this subsystem's components
    subsystem_controller = Node(
        package='subsystem_controllers',
        name='drivers_controller',
        executable='drivers_controller',
        parameters=[
            subsystem_controller_default_param_file,
            subsystem_controller_param_file,
            {"use_sim_time" : use_sim_time}],
        on_exit= Shutdown(), # Mark the subsystem controller as required
        arguments=['--ros-args', '--log-level', GetLogLevel('subsystem_controllers', env_log_levels)]
    )
 
    return LaunchDescription([
        declare_subsystem_controller_param_file_arg,
        declare_vehicle_config_param_file_arg,
        declare_vehicle_config_dir_arg,
        declare_global_params_override_file_arg,
        declare_use_sim_time_arg,
        lightbar_manager_container,
        subsystem_controller,
    ])