Launch引数指定

app/imshow/README.md

@@ -8,8 +8,12 @@ USBカメラの映像を映す
 
 ## Executables
 
-- `imshow`: `imshow`Nodeをspin
-
+- `imshow`: `Imshow`Nodeをspin
 
 ## Launches
 
+- `imshow_launch.py`: `Imshow`Nodeをspinする。以下のlaunch引数をとる
+    - `index`: 受け取る画像のインデックス。
+      与えられた場合はtopic`/app/camera_image`が`/packet/camera_image_{index}`にremapされ、
+      Nodeの名前が`imshow_{index}`に変わる。
+      与えられなかった場合はtopic`/app/camera_image`が`/packet/camera_image`にremapされる(Nodeの名前はそのまま)。

app/imshow/launch/imshow_launch.py

@@ -1,15 +1,38 @@
+from typing import Any
+
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
-    return LaunchDescription(
-        [
-            Node(
-                package="imshow",
-                executable="imshow",
-                namespace="app",
-                remappings=[("/app/camera_image", "/packet/camera_image")],
-            ),
-        ],
+def imshow_node(**kwargs: Any) -> Node:
+    kwargs["package"] = "imshow"
+    kwargs["executable"] = "imshow"
+    kwargs["namespace"] = "app"
+    return Node(**kwargs)
+
+
+def generate_launch_description() -> LaunchDescription:
+    index_arg = DeclareLaunchArgument("index", default_value="-1")
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    index = LaunchConfiguration("index")
+    log_level = LaunchConfiguration("log_level")
+    index_specified = PythonExpression([index, ">= 0"])
+    indexed_imshow = imshow_node(
+        name=["imshow_", index],
+        remappings=[("/app/camera_image", ["/packet/camera_image_", index])],
+        ros_arguments=["--log-level", log_level],
+        condition=IfCondition(index_specified),
+    )
+    unindexed_imshow = imshow_node(
+        remappings=[("/app/camera_image", "/packet/camera_image")],
+        ros_arguments=["--log-level", log_level],
+        condition=UnlessCondition(index_specified),
     )
+    return LaunchDescription([index_arg, log_level_arg, indexed_imshow, unindexed_imshow])

app/power_map/README.md

@@ -12,7 +12,9 @@
 
 ## Launches
 
-- `launch.py`:
+- `power_map_launch.py`:
   `power_map`Nodeに`config/default_param.yml`でparameterを与えつつ、それを実行する。
   その際`app`namespaceが適用され、出力の`/app/power`topicは`/device/order/power`topicにremapされる
-  (出力先は`device/nucleo_communicate_py`を参照)。
+  (出力先は`device/nucleo_communicate_py`を参照)。以下のlaunch引数を持つ
+    - `param_file`: パラメータの値を指定するYAMLファイルへのパス。
+      デフォルトでは`./config/default_param.yml`が使用される。

app/power_map/launch/power_map_launch.py

@@ -0,0 +1,27 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    param_file = PathJoinSubstitution(
+        [FindPackageShare("power_map"), "config", "default_param.yml"]
+    )
+    param_file_arg = DeclareLaunchArgument("param_file", default_value=param_file)
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
+    power_map = Node(
+        package="power_map",
+        executable="power-map",
+        namespace="app",
+        parameters=[LaunchConfiguration("param_file")],
+        remappings=[("/app/power", "/device/order/power")],
+        ros_arguments=["--log-level", log_level],
+    )
+    return LaunchDescription([param_file_arg, log_level_arg, power_map])

app/power_map/src/power_map.cpp

@@ -22,53 +22,62 @@ void power_map::PowerMap::publish_order(packet_interfaces::msg::Power& msg) {
 auto power_map::PowerMap::create_bldc_center_cb(size_t i
 ) -> rclcpp::ParameterCallbackHandle::ParameterCallbackType {
     return [this, i](const rclcpp::Parameter& p) {
+        const int64_t v = p.as_int();
         RCLCPP_INFO_STREAM(
             this->get_logger(),
-            "received parameter update of " << "bldc_center" << (i + 1)
+            "received parameter update of " << "bldc_center" << (i + 1) << " = " << v
         );
-        this->configs[i].bldc_center(p.as_int());
+        this->configs[i].bldc_center(v);
     };
 }
 
 auto power_map::PowerMap::create_bldc_positive_radius_cb(size_t i
 ) -> rclcpp::ParameterCallbackHandle::ParameterCallbackType {
     return [this, i](const rclcpp::Parameter& p) {
+        const int64_t v = p.as_int();
         RCLCPP_INFO_STREAM(
             this->get_logger(),
-            "received parameter update of " << "bldc_positive_radius" << (i + 1)
+            "received parameter update of " << "bldc_positive_radius" << (i + 1) << " = "
+                                            << v
         );
-        this->configs[i].bldc_positive_radius(p.as_int());
+        this->configs[i].bldc_positive_radius(v);
     };
 }
 
 auto power_map::PowerMap::create_bldc_negative_radius_cb(size_t i
 ) -> rclcpp::ParameterCallbackHandle::ParameterCallbackType {
     return [this, i](const rclcpp::Parameter& p) {
+        const int64_t v = p.as_int();
         RCLCPP_INFO_STREAM(
             this->get_logger(),
-            "received parameter update of " << "bldc_negative_radius" << (i + 1)
+            "received parameter update of " << "bldc_negative_radius" << (i + 1) << " = "
+                                            << v
         );
-        this->configs[i].bldc_negative_radius(p.as_int());
+        this->configs[i].bldc_negative_radius(v);
     };
 }
 
 auto power_map::PowerMap::create_servo_min_cb(size_t i
 ) -> rclcpp::ParameterCallbackHandle::ParameterCallbackType {
     return [this, i](const rclcpp::Parameter& p) {
+        const int64_t v = p.as_int();
         RCLCPP_INFO_STREAM(
-            this->get_logger(), "received parameter update of " << "servo_min" << (i + 1)
+            this->get_logger(),
+            "received parameter update of " << "servo_min" << (i + 1) << " = " << v
         );
-        this->configs[i].servo_min(p.as_int());
+        this->configs[i].servo_min(v);
     };
 }
 
 auto power_map::PowerMap::create_servo_max_cb(size_t i
 ) -> rclcpp::ParameterCallbackHandle::ParameterCallbackType {
     return [this, i](const rclcpp::Parameter& p) {
+        const int64_t v = p.as_int();
         RCLCPP_INFO_STREAM(
-            this->get_logger(), "received parameter update of " << "servo_max" << (i + 1)
+            this->get_logger(),
+            "received parameter update of " << "servo_max" << (i + 1) << " = " << v
         );
-        this->configs[i].servo_max(p.as_int());
+        this->configs[i].servo_max(v);
     };
 }
 

app/simple_joy_app/launch/app_launch.py

@@ -1,15 +1,21 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    return LaunchDescription(
-        [
-            Node(
-                package="simple_joy_app",
-                executable="app",
-                namespace="app",
-                remappings=[("/app/joystick", "/packet/joystick")],
-            ),
-        ],
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
     )
+    log_level = LaunchConfiguration("log_level")
+    app = Node(
+        package="simple_joy_app",
+        executable="app",
+        namespace="app",
+        remappings=[("/app/joystick", "/packet/joystick")],
+        ros_arguments=["--log-level", log_level],
+    )
+    return LaunchDescription([log_level_arg, app])

device/camera_reader/README.md

@@ -11,3 +11,11 @@ USBカメラの映像を取得
 - `camera`: `Camera`Nodeをspin
 
 ## Launches
+
+- `camera_reader_launch.py`: `Camera`Nodeをspinする。以下のlaunch引数が与えられる
+    - `index`: カメラの番号。
+      与えられた場合は`/dev/video{index}`に該当するカメラを参照し、
+      topic`/app/camera_image`が`/packet/camera_image_{index}`にremapされ、
+      Nodeの名前が`camera_{index}`に変わる。
+      与えられなかった場合は`/dev/video0`に該当するカメラを参照し、
+      topic`/app/camera_image`が`/packet/camera_image`にremapされる。

device/camera_reader/launch/camera_reader_launch.py

@@ -1,24 +1,42 @@
-import os
+from typing import Any
 
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+    PythonExpression,
+)
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
-def generate_launch_description():
-    config = os.path.join(
-        get_package_share_directory("camera_reader"),
-        "config",
-        "default_param.yml",
+def camera_node(**kwargs: Any) -> Node:
+    kwargs["package"] = "camera_reader"
+    kwargs["executable"] = "camera"
+    kwargs["namespace"] = "device"
+    return Node(**kwargs)
+
+
+def generate_launch_description() -> LaunchDescription:
+    index_arg = DeclareLaunchArgument("index", default_value="-1")
+    index = LaunchConfiguration("index")
+    index_specified = PythonExpression([index, ">= 0"])
+    default_config_path = PathJoinSubstitution(
+        [FindPackageShare("camera_reader"), "config", "default_param.yml"]
+    )
+    use_index = camera_node(
+        name=["camera_", index],
+        parameters=[{"camera_id": index}],
+        remappings=[("/device/camera_image", ["/packet/camera_image_", index])],
+        condition=IfCondition(index_specified),
+    )
+    unuse_index = camera_node(
+        parameters=[default_config_path],
+        remappings=[("/device/camera_image", "/packet/camera_image")],
+        condition=UnlessCondition(index_specified),
     )
     return LaunchDescription(
-        [
-            Node(
-                package="camera_reader",
-                executable="camera",
-                namespace="device",
-                parameters=[config],
-                remappings=[("/device/camera_image", "/packet/camera_image")],
-            ),
-        ],
+        [index_arg, use_index, unuse_index],
     )

device/nucleo_communicate/launch/channel_launch.py

@@ -14,7 +14,7 @@ def generate_launch_description():
             ("/device/voltage", "/packet/sensors/voltage"),
             # FIXME: /packet namespaceにremap
             ("/device/power", "/device/order/power"),
-            ("/device/quit", "/device/order/quit")
+            ("/device/quit", "/device/order/quit"),
         ],
     )
     return LaunchDescription([channel])

device/nucleo_communicate_py/launch/channel_launch.py

@@ -12,6 +12,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/flex_2", "/packet/sensors/flex_2"),
             ("/device/current", "/packet/sensor/current"),
             ("/device/voltage", "/packet/sensor/voltage"),
-        ]
+        ],
     )
     return LaunchDescription([main])

device/pi_led/README.md

@@ -0,0 +1,33 @@
+# pi_led
+
+ラズパイのGPIOでLED(フルカラー)を扱う
+
+## Nodes
+
+- `Led`: LEDを扱う。以下のparameterを(起動時のみ)受け取る
+    - `led_pin_r`: Redのピン
+    - `led_pin_g`: Greenのピン
+    - `led_pin_b`: Blueのピン
+
+parameterの設定例は./config以下を参照
+
+## Executables
+
+- `pi_led`: `Led`Nodeをspinする
+
+## Launches
+
+- `led_launch.py`: `Led`Nodeを`device`namespace下でspinする。以下のlaunch引数が与えられる
+    - `variant`: 使用するGPIO Pinセットの略称。`default`, `right`, `left`, `custom`のいずれか
+        - `default`: ./config/default_param.ymlのparameter設定でspinする。
+          topic`/device/led_color`が`/packet/order/led_color`にremapされる
+        - `right`: ./config/default_param.ymlのparameter設定でspinする。
+          Node名が`led_right`に書きかわり、
+          topic`/device/led_color`が`/packet/order/led_color_right`にremapされる
+        - `left`: ./config/left_param.ymlのparameter設定でspinする。
+          Node名が`led_left`に書きかわり、
+          topic`/device/led_color`が`/packet/order/led_color_left`にremapされる
+        - `custom`: launch引数`param_file`で指定されたparameterでspinする。
+          Node名が`led_custom`に書きかわり、
+          topic`/device/led_color`が`/packet/order/led_color_custom`にremapされる
+    - `param_file`: カスタムのparameter設定ファイル。`variant:=custom`の時のみ有効