stop_and_dwell_strategic_plugin Namespace Reference

Namespaces
namespace	anonymous_namespace{stop_and_dwell_strategic_plugin.cpp}

Classes
class	StopAndDwellStrategicPlugin
struct	StopAndDwellStrategicPluginConfig
	Struct to store the configuration settings for the WzStrategicPlugin class. More...
struct	VehicleState
	Struct representing a vehicle state for the purposes of planning. More...

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def stop_and_dwell_strategic_plugin.generate_launch_description

(

)

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