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