inlanecruising_plugin Namespace Reference

Namespaces
namespace	log
namespace	smoothing

Classes
class	InLaneCruisingPlugin
	Class containing primary business logic for the In-Lane Cruising Plugin. More...
class	InLaneCruisingPluginNode
	ROS node for the InLaneCruisingPlugin. More...

Typedefs
using	PublishPluginDiscoveryCB = std::function< void(const carma_planning_msgs::msg::Plugin &)>
using	DebugPublisher = std::function< void(const carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds &)>
using	PointSpeedPair = basic_autonomy::waypoint_generation::PointSpeedPair

Functions
def	generate_launch_description ()

Variables
static const std::string	ILC_LOGGER = "inlanecruising_plugin"

Typedef Documentation

DebugPublisher

using inlanecruising_plugin::DebugPublisher = typedef std::function<void(const carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds&)>

Definition at line 41 of file inlanecruising_plugin.hpp.

PointSpeedPair

using inlanecruising_plugin::PointSpeedPair = typedef basic_autonomy::waypoint_generation::PointSpeedPair

Definition at line 42 of file inlanecruising_plugin.hpp.

PublishPluginDiscoveryCB

using inlanecruising_plugin::PublishPluginDiscoveryCB = typedef std::function<void(const carma_planning_msgs::msg::Plugin&)>

Definition at line 40 of file inlanecruising_plugin.hpp.

Function Documentation

generate_launch_description()

def inlanecruising_plugin.generate_launch_description

(

)

Definition at line 31 of file inlanecruising_plugin.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='DEBUG')
    
    # Get parameter file path
    param_file_path = os.path.join(
        get_package_share_directory('inlanecruising_plugin'), 'config/parameters.yaml')
 
        
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='inlanecruising_plugin_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                    package='inlanecruising_plugin',
                    plugin='inlanecruising_plugin::InLaneCruisingPluginNode',
                    name='inlanecruising_plugin',
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                        {'--log-level' : log_level }
                    ],
                    parameters=[ param_file_path ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])

Variable Documentation

ILC_LOGGER

const std::string inlanecruising_plugin::ILC_LOGGER = "inlanecruising_plugin"

static

Definition at line 44 of file inlanecruising_plugin.hpp.

Referenced by inlanecruising_plugin::log::printDebugPerLine(), and inlanecruising_plugin::log::printDoublesPerLineWithPrefix().