<reponame>rubis-lab/autoware_rubis<filename>src/rubis_detect/launch/rubis_detect.launch.py<gh_stars>0
# Copyright 2021 the Autoware Foundation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""
Example launch file for a new package.

Note: Does not work in ROS2 dashing!
"""

from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import os


def generate_launch_description():
    """Generate launch description with a single component."""
    rubis_detect_param_file = os.path.join(
        get_package_share_directory('rubis_detect'),
        'param/rubis_detect.param.yaml')
    rubis_detect_param = DeclareLaunchArgument(
        'rubis_detect_param_file',
        default_value=rubis_detect_param_file,
        description='Path to config file to Rubis Detect'
    )

    rubis_detect = Node(
        package="rubis_detect",
        executable="rubis_detect_node_exe",
        name="rubis_detect_node",
        output="screen",
        parameters=[LaunchConfiguration("rubis_detect_param_file"), {}],
    )

    return LaunchDescription([
        rubis_detect_param,
        rubis_detect,
    ])

# Copyright 2021 the Autoware Foundation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""
Example launch file for a new package.

Note: Does not work in ROS2 dashing!
"""

from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import os


def generate_launch_description():
    """Generate launch description with a single component."""
    rubis_detect_param_file = os.path.join(
        get_package_share_directory('rubis_detect'),
        'param/rubis_detect.param.yaml')
    rubis_detect_param = DeclareLaunchArgument(
        'rubis_detect_param_file',
        default_value=rubis_detect_param_file,
        description='Path to config file to Rubis Detect'
    )

    rubis_detect = Node(
        package="rubis_detect",
        executable="rubis_detect_node_exe",
        name="rubis_detect_node",
        output="screen",
        parameters=[LaunchConfiguration("rubis_detect_param_file"), {}],
    )

    return LaunchDescription([
        rubis_detect_param,
        rubis_detect,
    ])
# Copyright 2021 the Autoware Foundation # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # #     http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. Example launch file for a new package.  Note: Does not work in ROS2 dashing! Generate launch description with a single component.