pointcloud_container.launch.py

# Copyright 2021 Tier IV, Inc. All rights reserved.
#
# 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.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import SetLaunchConfiguration
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    def add_launch_arg(name: str, default_value=None):
        return DeclareLaunchArgument(name, default_value=default_value)

    set_container_executable = SetLaunchConfiguration(
        "container_executable",
        "component_container",
        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
    )

    set_container_mt_executable = SetLaunchConfiguration(
        "container_executable",
        "component_container_mt",
        condition=IfCondition(LaunchConfiguration("use_multithread")),
    )

    glog_component = ComposableNode(
        package="glog_component",
        plugin="GlogComponent",
        name="glog_component",
        namespace="pointcloud_container",
    )

    pointcloud_container = ComposableNodeContainer(
        name=LaunchConfiguration("container_name"),
        namespace="/",
        package="rclcpp_components",
        executable=LaunchConfiguration("container_executable"),
        composable_node_descriptions=[glog_component],
        output="both",
    )

    return LaunchDescription(
        [
            add_launch_arg("use_multithread", "false"),
            add_launch_arg("container_name", "pointcloud_container"),
            set_container_executable,
            set_container_mt_executable,
            pointcloud_container,
        ]
    )