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add launch for oak #113
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add launch for oak #113
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(art_dev_launch) | ||
|
|
||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
|
|
||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
|
|
||
| ament_auto_package( | ||
| INSTALL_TO_SHARE | ||
| launch | ||
| ) |
93 changes: 93 additions & 0 deletions
93
workspace/src/common/launch/art_dev_launch/launch/art_dev.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| # | ||
| # BSD 3-Clause License | ||
| # | ||
| # Copyright (c) 2022 University of Wisconsin - Madison | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.# | ||
|
|
||
| # ros imports | ||
| from launch import LaunchDescription | ||
| from launch.actions import SetLaunchConfiguration | ||
| from launch.conditions import IfCondition, UnlessCondition | ||
| from launch_ros.actions import ComposableNodeContainer | ||
|
|
||
| # internal imports | ||
| from launch_utils import ( | ||
| IncludeLaunchDescriptionWithCondition, | ||
| GetLaunchArgument, | ||
| AddLaunchArgument, | ||
| SetLaunchArgument, | ||
| ) | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
|
|
||
| # ---------------- | ||
| # Launch Arguments | ||
| # ---------------- | ||
|
|
||
| AddLaunchArgument(ld, "use_sim", "False") | ||
| AddLaunchArgument(ld, "use_sim_time", "False") | ||
| SetLaunchArgument( | ||
| ld, "use_sim_time", "True", condition=IfCondition(GetLaunchArgument("use_sim")) | ||
| ) | ||
|
|
||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_art_sensing", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_art_vehicle", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_art_simulation", | ||
| "True", | ||
| condition=UnlessCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_ekf_estimation", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_particle_filter_estimation", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
|
|
||
| IncludeLaunchDescriptionWithCondition(ld, "art_launch", "art") | ||
|
|
||
| return ld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="3"> | ||
| <name>art_launch</name> | ||
| <version>0.1.0</version> | ||
| <description>The art_dev_launch package</description> | ||
|
|
||
| <maintainer email="[email protected]">TODO</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
|
||
| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
|
|
||
| <exec_depend>art_launch</exec_depend> | ||
| <exec_depend>launch_utils</exec_depend> | ||
|
|
||
| <test_depend>ament_lint_auto</test_depend> | ||
|
|
||
| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -2,7 +2,7 @@ | |
| <package format="3"> | ||
| <name>art_launch</name> | ||
| <version>0.1.0</version> | ||
| <description>The art_launch package</description> | ||
| <description>The art packages that always get launched.</description> | ||
|
|
||
| <maintainer email="[email protected]">TODO</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(art_oak_launch) | ||
|
|
||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
|
|
||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
|
|
||
| ament_auto_package( | ||
| INSTALL_TO_SHARE | ||
| launch | ||
| ) |
94 changes: 94 additions & 0 deletions
94
workspace/src/common/launch/art_oak_launch/launch/art_oak.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,94 @@ | ||
| # | ||
| # BSD 3-Clause License | ||
| # | ||
| # Copyright (c) 2022 University of Wisconsin - Madison | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.# | ||
|
|
||
| # ros imports | ||
| from launch import LaunchDescription | ||
| from launch.actions import SetLaunchConfiguration | ||
| from launch.conditions import IfCondition, UnlessCondition | ||
| from launch_ros.actions import ComposableNodeContainer | ||
|
|
||
| # internal imports | ||
| from launch_utils import ( | ||
| IncludeLaunchDescriptionWithCondition, | ||
| GetLaunchArgument, | ||
| AddLaunchArgument, | ||
| SetLaunchArgument, | ||
| ) | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
|
|
||
| # ---------------- | ||
| # Launch Arguments | ||
| # ---------------- | ||
|
|
||
| AddLaunchArgument(ld, "use_sim", "False") | ||
| AddLaunchArgument(ld, "use_sim_time", "False") | ||
| AddLaunchArgument(ld, "art_oak", "True") | ||
| SetLaunchArgument( | ||
| ld, "use_sim_time", "True", condition=IfCondition(GetLaunchArgument("use_sim")) | ||
| ) | ||
|
|
||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_art_sensing", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_art_vehicle", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_art_simulation", | ||
| "True", | ||
| condition=UnlessCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_ekf_estimation", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
| SetLaunchArgument( | ||
| ld, | ||
| "disable_particle_filter_estimation", | ||
| "True", | ||
| condition=IfCondition(GetLaunchArgument("use_sim")), | ||
| ) | ||
|
|
||
| IncludeLaunchDescriptionWithCondition(ld, "art_launch", "art") | ||
|
|
||
| return ld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="3"> | ||
| <name>art_oak_launch</name> | ||
| <version>0.1.0</version> | ||
| <description>The art_oak_launch package</description> | ||
|
|
||
| <maintainer email="[email protected]">TODO</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
|
||
| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
|
|
||
| <exec_depend>art_launch</exec_depend> | ||
| <exec_depend>launch_utils</exec_depend> | ||
|
|
||
| <test_depend>ament_lint_auto</test_depend> | ||
|
|
||
| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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only comment is adding spaces above and below this haha