55 lines
1.8 KiB
Python
55 lines
1.8 KiB
Python
import launch
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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from launch_ros.substitutions import FindPackageShare
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import os
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def generate_launch_description():
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"""Generate launch description with multiple components."""
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vision_share = FindPackageShare("").find("toid_vision")
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camera_info = os.path.join(vision_share, 'config/camera_info.yaml')
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is_blue_arg = DeclareLaunchArgument(
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name= "is_blue",
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default_value = "True"
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)
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is_blue = LaunchConfiguration("is_blue")
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container = ComposableNodeContainer(
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name='vision_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container_mt',
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composable_node_descriptions=[
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ComposableNode(
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package='toid_vision',
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plugin='toid::NutDetector',
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name='nut_detector',
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parameters= [{
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'is_blue': is_blue,
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}]),
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ComposableNode(
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package='camera_ros',
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plugin='camera::CameraNode',
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name='camera',
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parameters= [{
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'width': 1640,
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'height': 1242,
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'orientation': 180,
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'camera': 0,
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'frame_id': 'camera',
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'camera_info_url': "file://" + camera_info
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}],
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)
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],
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output='screen',
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)
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return launch.LaunchDescription([
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is_blue_arg,
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container
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]) |