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Added the ip and port as launch arguments in the ros2 launch file #145

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Added the ip and port as launch arguments in the ros2 launch file #145

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3620d91
Added the ip and port as launch arguments
Elie-Y Apr 28, 2022
813e10b
renamed launch arguments to tcp_ip and tcp_port
Elie-Y Jun 27, 2022
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18 changes: 17 additions & 1 deletion launch/endpoint.py
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Original file line number Diff line number Diff line change
@@ -1,15 +1,31 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import TextSubstitution
from launch.substitutions import LaunchConfiguration


def generate_launch_description():
ros_ip = DeclareLaunchArgument(
"tcp_ip", default_value=TextSubstitution(text="0.0.0.0")
)

ros_tcp_port = DeclareLaunchArgument(
"tcp_port", default_value="10000"
)

return LaunchDescription(
[
ros_ip,
ros_tcp_port,
Node(
package="ros_tcp_endpoint",
executable="default_server_endpoint",
emulate_tty=True,
parameters=[{"ROS_IP": "0.0.0.0"}, {"ROS_TCP_PORT": 10000}],
parameters=[{
"ROS_IP": LaunchConfiguration('tcp_ip'),
"ROS_TCP_PORT": LaunchConfiguration('tcp_port')
}],
)
]
)