Merge pull request #66 from rogy-AquaLab/order-launch

Nucleoに命令出す用のlaunchファイル

ul/launch/order_nucleo.py

@@ -0,0 +1,56 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+
+
+def generate_launch_description() -> LaunchDescription:
+    state_arg = DeclareLaunchArgument(
+        "state", default_value="running", choices=["initializing", "suspend", "running"]
+    )
+    power_topic_arg = DeclareLaunchArgument("power_topic", default_value="{}")
+    # launch_ros.actions.Nodeを使っていないためlog_level引数はない
+    state = LaunchConfiguration("state")
+    power_topic = LaunchConfiguration("power_topic")
+    state_is_initializing = PythonExpression(["'", state, "' == 'initializing'"])
+    state_is_suspend = PythonExpression(["'", state, "' == 'suspend'"])
+    state_is_running = PythonExpression(["'", state, "' == 'running'"])
+    order_power = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "topic",
+            "pub",
+            "--once",
+            "/packet/order/power",
+            "packet_interfaces/msg/Power",
+            power_topic,
+        ],
+        condition=IfCondition(state_is_running),
+    )
+    order_initializing = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "topic",
+            "pub",
+            "--once",
+            "/packet/order/initialize",
+            "std_msgs/msg/Empty",
+            "{}",
+        ],
+        condition=IfCondition(state_is_initializing),
+    )
+    order_suspend = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "topic",
+            "pub",
+            "--once",
+            "/packet/order/suspend",
+            "std_msgs/msg/Empty",
+            "{}",
+        ],
+        condition=IfCondition(state_is_suspend),
+    )
+    return LaunchDescription(
+        [state_arg, power_topic_arg, order_power, order_initializing, order_suspend]
+    )