frame_transformer_launch Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def frame_transformer_launch.generate_launch_description

(

)

Definition at line 29 of file frame_transformer_launch.py.

def generate_launch_description():
 
    # Get parameter file path
    param_file_path = os.path.join(
        get_package_share_directory('frame_transformer'), 'config/parameters.yaml')
 
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='frame_transformer_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
 
            # Launch the core node(s)
            ComposableNode(
                    package='frame_transformer',
                    plugin='frame_transformer::Node',
                    name='frame_transformer_node',
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                    ],
                    parameters=[ param_file_path ]
            ),
        ]
    )
 
    return LaunchDescription([
        container
    ])