pure_pursuit_wrapper.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 CARMA Pure Pursuit Wrapper 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')
 
    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
    ])