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87 lines
2.5 KiB
Python
87 lines
2.5 KiB
Python
#!/usr/bin/env python3
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"""
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ROS2 Launch file for ROS-MCP Server with TurtleBot3
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This launch file starts:
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- rosbridge_websocket server
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- TurtleBot3 robot
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- Provides proper process management and cleanup
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"""
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import os
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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def generate_launch_description():
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"""Generate the launch description for ROS-MCP Server with TurtleBot3."""
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# Declare launch arguments
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rosbridge_port_arg = DeclareLaunchArgument(
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"port", default_value="9090", description="Port for rosbridge websocket server"
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)
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rosbridge_address_arg = DeclareLaunchArgument(
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"address",
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default_value="",
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description="Address for rosbridge websocket server (empty for all interfaces)",
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)
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# Rosbridge websocket server node
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rosbridge_node = Node(
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package="rosbridge_server",
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executable="rosbridge_websocket",
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name="rosbridge_websocket",
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output="screen",
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parameters=[
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{
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"port": LaunchConfiguration("port"),
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"address": LaunchConfiguration("address"),
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"use_compression": False,
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"max_message_size": 10000000,
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"send_action_goals_in_new_thread": True,
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"call_services_in_new_thread": True,
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}
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],
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arguments=["--ros-args", "--log-level", "info"],
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)
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# Include TurtleBot3 bringup launch file
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turtlebot3_bringup_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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os.path.join(
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FindPackageShare("turtlebot3_bringup").find("turtlebot3_bringup"),
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"launch",
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"robot.launch.py",
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)
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]
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)
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)
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# Log info about what's being launched
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log_info = LogInfo(
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msg=[
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"Starting ROS-MCP Server with:",
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" - Rosbridge WebSocket on port: ",
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LaunchConfiguration("port"),
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" - TurtleBot3 robot bringup",
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]
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)
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return LaunchDescription(
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[
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rosbridge_port_arg,
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rosbridge_address_arg,
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log_info,
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rosbridge_node,
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turtlebot3_bringup_launch,
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]
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)
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