motion_computation_launch Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def motion_computation_launch.generate_launch_description

(

)

Definition at line 32 of file motion_computation_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="WARN"
    )
 
    # Get parameter file path
    param_file_path = os.path.join(
        get_package_share_directory("motion_computation"), "config/parameters.yaml"
    )
 
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package="carma_ros2_utils",
        name="motion_computation_container",
        namespace=GetCurrentNamespace(),
        executable="carma_component_container_mt",
        composable_node_descriptions=[
            # Launch the core node(s)
            ComposableNode(
                package="motion_computation",
                plugin="motion_computation::MotionComputationNode",
                name="motion_computation_node",
                extra_arguments=[
                    {"use_intra_process_comms": True},
                    {"--log-level": log_level},
                ],
                parameters=[param_file_path],
            ),
        ],
    )
 
    return LaunchDescription([declare_log_level_arg, container])