22 lines
1.2 KiB
Python
22 lines
1.2 KiB
Python
"""Explicit deployment identity/site/journal; motion disabled unless opted in."""
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch_ros.actions import Node
|
|
from launch_ros.parameter_descriptions import ParameterValue
|
|
|
|
|
|
def generate_launch_description():
|
|
names = [DeclareLaunchArgument('namespace'), DeclareLaunchArgument('robot_id'),
|
|
DeclareLaunchArgument('site_config_file'), DeclareLaunchArgument('journal_directory'),
|
|
DeclareLaunchArgument('execution_enabled', default_value='false')]
|
|
return LaunchDescription(names + [Node(
|
|
package='bt_executor', executable='bt_executor_node', output='screen',
|
|
namespace=LaunchConfiguration('namespace'), parameters=[{
|
|
'robot_id': LaunchConfiguration('robot_id'),
|
|
'allowed_robots': [[LaunchConfiguration('robot_id')]],
|
|
'site_config_file': LaunchConfiguration('site_config_file'),
|
|
'journal_directory': LaunchConfiguration('journal_directory'),
|
|
'execution_enabled': ParameterValue(LaunchConfiguration('execution_enabled'), value_type=bool),
|
|
}])])
|