wehub-resource-sync
db1d565b64
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47 lines
1.5 KiB
Python
47 lines
1.5 KiB
Python
"""ROS2 launch file for integration tests: rosbridge + turtlesim + rosapi."""
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from launch.actions import DeclareLaunchArgument
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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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return LaunchDescription(
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[
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DeclareLaunchArgument("port", default_value="9090"),
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DeclareLaunchArgument("address", default_value=""),
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Node(
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package="turtlesim",
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executable="turtlesim_node",
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name="turtlesim",
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output="screen",
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),
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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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"unregister_timeout": 10.0,
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"service_timeout": 5,
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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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),
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Node(
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package="rosapi",
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executable="rosapi_node",
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name="rosapi",
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output="screen",
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),
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]
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)
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