external_object Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def external_object.generate_launch_description

(

)

Definition at line 29 of file external_object.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')
 
    param_file_path = os.path.join(
        get_package_share_directory('object_detection_tracking'), 'config/parameters.yaml')
 
    container = ComposableNodeContainer(
        package='rclcpp_components',
        name='external_object_container',
        namespace='/',
        executable='component_container_mt',
        composable_node_descriptions=[
 
            ComposableNode(
                    package='object_detection_tracking',
                    plugin='object::ObjectDetectionTrackingNode',
                    name='external_object',
                    namespace="/",
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                        {'--log-level' : log_level }
                    ],
                    parameters=[ param_file_path ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])