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Update launcher with param utils #4

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Merged
merged 1 commit into from
Jul 5, 2024
Merged

Update launcher with param utils #4

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29 changes: 13 additions & 16 deletions launch/as2_platform_dji_psdk.launch.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,4 @@
#!/usr/bin/env python3

"""Launch as2_platform_dji_psdk node."""

# Copyright 2023 Universidad Politécnica de Madrid
# Copyright 2024 Universidad Politécnica de Madrid
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -30,15 +26,17 @@
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

__authors__ = 'Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
"""Launch as2_platform_dji_psdk node."""

__authors__ = 'Rafael Pérez Seguí, Pedro Arias Pérez'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
__version__ = '0.1.0'

import os

from ament_index_python.packages import get_package_share_directory
import as2_core.launch_param_utils as as2_utils
from as2_core.declare_launch_arguments_from_config_file import DeclareLaunchArgumentsFromConfigFile
from as2_core.launch_configuration_from_config_file import LaunchConfigurationFromConfigFile
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
Expand All @@ -57,7 +55,6 @@ def generate_launch_description() -> LaunchDescription:
package_folder = get_package_share_directory('as2_platform_dji_psdk')
platform_config_file = os.path.join(package_folder,
'config/platform_config_file.yaml')

control_modes = PathJoinSubstitution([
FindPackageShare('as2_platform_dji_psdk'),
'config', 'control_modes.yaml'
Expand All @@ -73,9 +70,8 @@ def generate_launch_description() -> LaunchDescription:
DeclareLaunchArgument('control_modes_file',
default_value=control_modes,
description='Platform control modes file'),
*as2_utils.declare_launch_arguments(
'config_file',
default_value=platform_config_file,
DeclareLaunchArgumentsFromConfigFile(
name='config_file', source_file=platform_config_file,
description='Platform configuration file'),
Node(
package='as2_platform_dji_psdk',
Expand All @@ -87,11 +83,12 @@ def generate_launch_description() -> LaunchDescription:
arguments=['--ros-args', '--log-level',
LaunchConfiguration('log_level')],
parameters=[
*as2_utils.launch_configuration('config_file',
default_value=platform_config_file),
{
'control_modes_file': LaunchConfiguration('control_modes_file'),
}
},
LaunchConfigurationFromConfigFile(
'config_file',
default_file=platform_config_file),
]
)
])