Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
mobilitypath_publisher_launch Namespace Reference

Functions

def generate_launch_description ()
 

Function Documentation

◆ generate_launch_description()

def mobilitypath_publisher_launch.generate_launch_description ( )

Definition at line 31 of file mobilitypath_publisher_launch.py.

32
33 # Declare the log_level launch argument
34 log_level = LaunchConfiguration('log_level')
35 declare_log_level_arg = DeclareLaunchArgument(
36 name ='log_level', default_value='WARN')
37
38 # Get parameter file path
39 param_file_path = os.path.join(
40 get_package_share_directory('mobilitypath_publisher'), 'config/parameters.yaml')
41
42 # Launch node(s) in a carma container to allow logging to be configured
43 container = ComposableNodeContainer(
44 package='carma_ros2_utils',
45 name='mobilitypath_publisher_container',
46 namespace=GetCurrentNamespace(),
47 executable='carma_component_container_mt',
48 composable_node_descriptions=[
49
50 # Launch the core node(s)
51 ComposableNode(
52 package='mobilitypath_publisher',
53 plugin='mobilitypath_publisher::MobilityPathPublication',
54 name='mobilitypath_publisher_node',
55 extra_arguments=[
56 {'use_intra_process_comms': True},
57 {'--log-level' : log_level }
58 ],
59 parameters=[ param_file_path ]
60 ),
61 ]
62 )
63
64 return LaunchDescription([
65 declare_log_level_arg,
66 container
67 ])