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add possibility to pass config file from a parent launch file #8

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add possibility to pass config file from a parent launch file #8

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42 changes: 27 additions & 15 deletions launch/urg_node2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,28 +16,22 @@
import launch
import yaml
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch import LaunchDescription, LaunchContext
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch.actions import (DeclareLaunchArgument, EmitEvent, RegisterEventHandler)
from launch.actions import (DeclareLaunchArgument, EmitEvent, RegisterEventHandler, OpaqueFunction)
from launch.event_handlers import OnProcessStart
from launch.events import matches_action
from launch_ros.actions import LifecycleNode
from launch_ros.event_handlers import OnStateTransition
from launch_ros.events.lifecycle import ChangeState
from lifecycle_msgs.msg import Transition

def generate_launch_description():

# パラメータファイルのパス設定
config_file_path = os.path.join(
get_package_share_directory('urg_node2'),
'config',
'params_ether.yaml'
)
def launch_setup(context: LaunchContext, config_file_path):
# Convert to string
config_file_path_str = context.perform_substitution(config_file_path)

# パラメータファイルのロード
with open(config_file_path, 'r') as file:
with open(config_file_path_str, 'r') as file:
config_params = yaml.safe_load(file)['urg_node2']['ros__parameters']

# urg_node2をライフサイクルノードとして起動
Expand Down Expand Up @@ -85,6 +79,25 @@ def generate_launch_description():
condition=IfCondition(LaunchConfiguration('auto_start')),
)

return [lifecycle_node,
urg_node2_node_configure_event_handler,
urg_node2_node_activate_event_handler]

def generate_launch_description():

# パラメータファイルのパス設定
config_file_path_default = os.path.join(
get_package_share_directory('urg_node2'),
'config',
'params_ether.yaml'
)
config_file_path = LaunchConfiguration('config_file_path')
config_file_path_launch_arg = DeclareLaunchArgument(
'config_file_path',
default_value=config_file_path_default
)


# パラメータについて
# auto_start : 起動時自動でActive状態まで遷移 (default)true
# node_name : ノード名 (default)"urg_node2"
Expand All @@ -93,8 +106,7 @@ def generate_launch_description():
DeclareLaunchArgument('auto_start', default_value='true'),
DeclareLaunchArgument('node_name', default_value='urg_node2'),
DeclareLaunchArgument('scan_topic_name', default_value='scan'),
lifecycle_node,
urg_node2_node_configure_event_handler,
urg_node2_node_activate_event_handler,
config_file_path_launch_arg,
OpaqueFunction(function = launch_setup, args=[config_file_path])
])