toid_vision/launch/launch.py

@@ -1,4 +1,6 @@
 import launch
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration 
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
@@ -10,6 +12,12 @@ def generate_launch_description():
     vision_share = FindPackageShare("").find("toid_vision")
     camera_info = os.path.join(vision_share, 'config/camera_info.yaml')
 
+    is_blue_arg = DeclareLaunchArgument(
+        name= "is_blue",
+        default_value = "True"
+    ) 
+
+    is_blue = LaunchConfiguration("is_blue")
 
     container = ComposableNodeContainer(
             name='vision_container',
@@ -22,7 +30,7 @@ def generate_launch_description():
                     plugin='toid::NutDetector',
                     name='nut_detector',
                     parameters= [{
-                        'is_blue': True,
+                        'is_blue': is_blue,
                     }]),
                 ComposableNode(
                     package='camera_ros',
@@ -41,4 +49,7 @@ def generate_launch_description():
             output='screen',
     )
 
-    return launch.LaunchDescription([container])
+    return launch.LaunchDescription([
+        is_blue_arg,
+        container
+        ])