wehub-resource-sync
db1d565b64
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84 lines
2.4 KiB
Python
84 lines
2.4 KiB
Python
#!/usr/bin/env python3
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"""
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ROS2 Launch file for Rosbridge WebSocket Server only
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Launches only the rosbridge server.
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Use this when you want to connect to an external robot or simulation.
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"""
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from launch.actions import DeclareLaunchArgument, LogInfo
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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 import LaunchDescription
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def generate_launch_description():
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"""Generate the launch description for rosbridge only."""
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# Add here your robot nodes
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# robot_node = Node(
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# package='my_robot_pkg',
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# executable='robot_node',
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# name='my_robot'
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# )
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# Declare launch arguments
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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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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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log_level_arg = DeclareLaunchArgument(
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"log_level", default_value="info", description="Log level for rosbridge server"
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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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"default_call_service_timeout": 5.0,
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}
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],
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arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
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)
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# Log info
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log_info = LogInfo(
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msg=[
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"Starting Rosbridge WebSocket Server:",
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" - Port: ",
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LaunchConfiguration("port"),
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" - Address: ",
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LaunchConfiguration("address"),
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" - Log level: ",
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LaunchConfiguration("log_level"),
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]
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)
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return LaunchDescription(
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[
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port_arg,
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address_arg,
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log_level_arg,
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log_info,
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rosbridge_node,
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]
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)
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