pure_pursuit_wrapper Namespace Reference

Classes
struct	PurePursuitWrapperConfig
	Struct containing the algorithm configuration values for the PurePursuitWrapperConfig. More...
class	PurePursuitWrapperNode

Typedefs
using	WaypointPub = std::function< void(autoware_msgs::msg::Lane)>
using	PluginDiscoveryPub = std::function< void(carma_planning_msgs::msg::Plugin)>

Functions
def	generate_launch_description ()

Typedef Documentation

PluginDiscoveryPub

using pure_pursuit_wrapper::PluginDiscoveryPub = typedef std::function<void(carma_planning_msgs::msg::Plugin)>

Definition at line 34 of file pure_pursuit_wrapper.hpp.

WaypointPub

using pure_pursuit_wrapper::WaypointPub = typedef std::function<void(autoware_msgs::msg::Lane)>

Definition at line 33 of file pure_pursuit_wrapper.hpp.

Function Documentation

generate_launch_description()

def pure_pursuit_wrapper.generate_launch_description

(

)

Definition at line 30 of file pure_pursuit_wrapper.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')
 
    carma_pure_pursuit_wrapper_container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='carma_pure_pursuit_wrapper_container',
        executable='carma_component_container_mt',
        namespace=GetCurrentNamespace(),
        composable_node_descriptions=[
            ComposableNode(
                package='pure_pursuit_wrapper',
                plugin='pure_pursuit_wrapper::PurePursuitWrapperNode',
                name='pure_pursuit_wrapper',
                extra_arguments=[
                    {'use_intra_process_comms': True},
                    {'--log-level' : log_level }
                ]
            )
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        carma_pure_pursuit_wrapper_container
    ])