plan_delegator.launch.py

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# Copyright (C) 2022 LEIDOS.
#
# Licensed under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License. You may obtain a copy of
# the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations under
# the License.
 
from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from carma_ros2_utils.launch.get_current_namespace import GetCurrentNamespace
 
import os
 
 
'''
This file is can be used to launch the Plan Delegator Node.
  Though in carma-platform it may be launched directly from the base launch file.
'''
 
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
    ])