plan_delegator Namespace Reference

Namespaces
namespace	anonymous_namespace{plan_delegator.cpp}

Classes
struct	Config
	Config struct. More...
struct	LaneChangeInformation
	Convenience struct for storing information regarding a lane change maneuver. More...
class	PlanDelegator

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def plan_delegator.generate_launch_description

(

)

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