75 lines
3.1 KiB
Python
75 lines
3.1 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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teleop_config = PathJoinSubstitution([
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FindPackageShare('udp_teleop_bridge'),
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'config',
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'xbox_twist_joy.yaml',
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])
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teleop_topic = LaunchConfiguration('teleop_topic')
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return LaunchDescription([
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DeclareLaunchArgument('transport', default_value='udp'),
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DeclareLaunchArgument('server_addr', default_value=''),
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DeclareLaunchArgument('relay_via', default_value=''),
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DeclareLaunchArgument('peer_id', default_value='ros-gamepad-ctrl'),
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DeclareLaunchArgument('target_peer', default_value='ros-bridge-ctrl'),
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DeclareLaunchArgument('joy_dev', default_value='/dev/input/js0'),
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DeclareLaunchArgument('deadzone', default_value='0.10'),
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DeclareLaunchArgument('autorepeat_rate', default_value='20.0'),
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DeclareLaunchArgument('frame_id', default_value='pelvis'),
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DeclareLaunchArgument('teleop_topic', default_value='/teleop/cmd_vel'),
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DeclareLaunchArgument('send_rate_hz', default_value='20.0'),
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DeclareLaunchArgument('input_timeout', default_value='0.30'),
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Node(
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package='joy',
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executable='joy_node',
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name='joy_node',
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output='screen',
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parameters=[{
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'dev': LaunchConfiguration('joy_dev'),
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'deadzone': ParameterValue(LaunchConfiguration('deadzone'), value_type=float),
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'autorepeat_rate': ParameterValue(LaunchConfiguration('autorepeat_rate'), value_type=float),
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}],
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),
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Node(
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package='teleop_twist_joy',
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executable='teleop_node',
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name='teleop_twist_joy',
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output='screen',
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parameters=[
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teleop_config,
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{
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'publish_stamped_twist': True,
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'frame': LaunchConfiguration('frame_id'),
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},
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],
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remappings=[
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('cmd_vel', teleop_topic),
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],
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),
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Node(
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package='udp_teleop_bridge',
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executable='cmd_vel_udp_sender',
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name='cmd_vel_udp_sender',
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output='screen',
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parameters=[{
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'transport': LaunchConfiguration('transport'),
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'server_addr': LaunchConfiguration('server_addr'),
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'relay_via': LaunchConfiguration('relay_via'),
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'peer_id': LaunchConfiguration('peer_id'),
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'target_peer': LaunchConfiguration('target_peer'),
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'input_topic': teleop_topic,
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'send_rate_hz': ParameterValue(LaunchConfiguration('send_rate_hz'), value_type=float),
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'input_timeout': ParameterValue(LaunchConfiguration('input_timeout'), value_type=float),
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}],
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),
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])
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