stop_controlled_intersection_tactical_plugin Namespace Reference

Classes
class	StopControlledIntersectionTacticalPlugin
	Class containing primary business logic for the Stop Controlled Intersection Tactical Plugin. More...
struct	StopControlledIntersectionTacticalPluginConfig
	Stuct containing the algorithm configuration values for the StopControlledIntersectionTacticalPlugin. More...

Typedefs
using	PointSpeedPair = basic_autonomy::waypoint_generation::PointSpeedPair

Functions
def	generate_launch_description ()

Typedef Documentation

PointSpeedPair

using stop_controlled_intersection_tactical_plugin::PointSpeedPair = typedef basic_autonomy::waypoint_generation::PointSpeedPair

Definition at line 56 of file stop_controlled_intersection_plugin.hpp.

Function Documentation

generate_launch_description()

def stop_controlled_intersection_tactical_plugin.generate_launch_description

(

)

Definition at line 31 of file stop_controlled_intersection_tactical_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_controlled_intersection_tactical_plugin_file_path = os.path.join(
        get_package_share_directory('stop_controlled_intersection_tactical_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_controlled_intersection_tactical_plugin_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                package='stop_controlled_intersection_tactical_plugin',
                plugin='stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin',
                name='stop_controlled_intersection_tactical_plugin',
                extra_arguments=[
                    {'use_intra_process_comms': True},
                    {'--log-level' : log_level }
                ],
                parameters=[
                    stop_controlled_intersection_tactical_plugin_file_path
                ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])