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jorgenfjjorgenfj
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launch file refactor
1 parent 1820e75 commit b825174

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Lines changed: 742 additions & 301 deletions

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‎auv_setup/config/robots/nautilus.yaml‎

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imu: "imu/data_raw"
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sonar_info: "fls/sonar_info"
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pressure_sensor: "pressure"
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magnetometer: "magnetometer"
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gripper_servos: "gripper_servos"
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‎auv_setup/launch/mru.launch.py‎

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"""Kongsberg MRU — IMU driver.
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Two modes:
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standalone=true (default)
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Launches a regular Node.
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standalone=false
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Uses LoadComposableNodes to attach to an already-running container
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identified by `container_name`.
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"""
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import os
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import yaml
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import LoadComposableNodes, Node
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from launch_ros.descriptions import ComposableNode
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from auv_setup.launch_arg_common import (
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declare_drone_and_namespace_args,
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resolve_drone_and_namespace,
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)
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def _launch_setup(context, *args, **kwargs):
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drone, namespace = resolve_drone_and_namespace(context)
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standalone = LaunchConfiguration('standalone').perform(context).lower() == 'true'
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container_name = LaunchConfiguration('container_name').perform(context)
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host_ip = LaunchConfiguration('host_ip').perform(context)
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drone_params = os.path.join(
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get_package_share_directory('auv_setup'),
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'config',
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'robots',
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f'{drone}.yaml',
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)
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with open(drone_params) as f:
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robot_topics = yaml.safe_load(f)['/**']['ros__parameters']['topics']
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parameters = [
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{
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"imu_pub_topic": robot_topics['imu'],
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'frame_id': f'/{namespace}/imu_link',
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'connection_params.remote_ip': '10.0.0.20',
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'connection_params.data_remote_port': 7550,
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'connection_params.data_local_port': 7551,
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'connection_params.control_local_port': 7552,
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'mru_settings.channel': 'UDP1',
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'mru_settings.port': 7551,
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'mru_settings.ip_addr': host_ip,
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'mru_settings.format': 'MRUBIN',
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'mru_settings.interval': 5,
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'mru_settings.token': 21,
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}
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]
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if standalone:
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return [
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Node(
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package='mru_ros_interface',
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executable='mru_ros_interface_node',
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name='mru_ros_interface_node',
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namespace=namespace,
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parameters=parameters,
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output='screen',
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)
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]
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else:
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return [
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LoadComposableNodes(
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target_container=container_name,
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composable_node_descriptions=[
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ComposableNode(
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package='mru_ros_interface',
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plugin='MruRosInterface',
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name='mru_ros_interface_node',
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namespace=namespace,
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parameters=parameters,
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extra_arguments=[{'use_intra_process_comms': True}],
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)
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],
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)
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]
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def generate_launch_description():
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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'standalone',
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default_value='true',
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description=(
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'true = launch as a regular node; '
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'false = attach to an existing container named by container_name'
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),
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),
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DeclareLaunchArgument(
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'container_name',
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default_value='',
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description='Container to attach to when standalone=false',
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),
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DeclareLaunchArgument(
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'host_ip',
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default_value='10.0.0.67',
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description='IP address of this host machine, sent to the MRU so it knows where to stream data.',
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),
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]
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+ declare_drone_and_namespace_args()
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+ [OpaqueFunction(function=_launch_setup)]
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)

‎auv_setup/launch/ms5837.launch.py‎

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"""MS5837 pressure/depth sensor driver."""
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import os
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import yaml
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from auv_setup.launch_arg_common import (
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declare_drone_and_namespace_args,
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resolve_drone_and_namespace,
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)
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def _launch_setup(context, *args, **kwargs):
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drone, namespace = resolve_drone_and_namespace(context)
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environment = LaunchConfiguration('environment').perform(context)
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env_params_path = os.path.join(
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get_package_share_directory('auv_setup'),
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'config',
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'environments',
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f'{environment}.yaml',
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)
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with open(env_params_path) as f:
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env = yaml.safe_load(f)['/**']['ros__parameters']
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fluid_density = env['water']['density']
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atmospheric_pressure = env['atmosphere']['pressure']
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gravity = env['gravity']['acceleration']
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return [
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Node(
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package='ms5837_driver',
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executable='ms5837_node',
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name='ms5837_driver_node',
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namespace=namespace,
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parameters=[
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{
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'frame_id': f'{namespace}/pressure_sensor_link',
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'fluid_density': fluid_density,
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'atmospheric_pressure': atmospheric_pressure,
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'gravity': gravity,
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'publish_depth': True,
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'publish_altitude': False,
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}
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],
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output='screen',
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)
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]
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def generate_launch_description():
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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'environment',
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default_value='trondheim_freshwater',
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description='Environment config to load from auv_setup/config/environments/.',
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choices=[
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'longbeach',
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'stonefish_sim',
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'trondheim_freshwater',
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'trondheim_saltwater',
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],
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),
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]
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+ declare_drone_and_namespace_args()
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+ [OpaqueFunction(function=_launch_setup)]
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)

‎auv_setup/launch/nucleus.launch.py‎

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"""Nortek Nucleus 1000 — DVL/INS/pressure driver.
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Two modes:
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standalone=true (default)
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Launches a regular Node.
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standalone=false
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Uses LoadComposableNodes to attach to an already-running container
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identified by `container_name`.
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"""
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import os
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import yaml
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import LoadComposableNodes, Node
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from launch_ros.descriptions import ComposableNode
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from auv_setup.launch_arg_common import (
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declare_drone_and_namespace_args,
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resolve_drone_and_namespace,
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)
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def _launch_setup(context, *args, **kwargs):
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drone, namespace = resolve_drone_and_namespace(context)
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standalone = LaunchConfiguration('standalone').perform(context).lower() == 'true'
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container_name = LaunchConfiguration('container_name').perform(context)
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drone_params = os.path.join(
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get_package_share_directory('auv_setup'),
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'config',
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'robots',
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f'{drone}.yaml',
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)
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with open(drone_params) as f:
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robot_topics = yaml.safe_load(f)['/**']['ros__parameters']['topics']
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parameters = [
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{
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'frame_id': f'/{namespace}/dvl_link',
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'qos': 'best_effort',
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'connection_params.remote_ip': '10.0.0.42',
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'connection_params.data_remote_port': 9000,
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'connection_params.password': '',
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'enable_imu': False,
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'enable_ins_odom': True,
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'enable_dvl': True,
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'enable_pressure': True,
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'enable_altimeter': True,
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'enable_magnetometer': True,
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'enable_ins_twist': False,
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'enable_ins_position': False,
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'enable_ins_pose': False,
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"imu_data_raw_pub_topic": f"/{namespace}/nucleus/imu/data_raw",
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"imu_data_pub_topic": f"/{namespace}/nucleus/imu/data",
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"ins_pub_topic": f"/{namespace}/nucleus/odom",
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"dvl_pub_topic": robot_topics['dvl_twist'],
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"altimeter_pub_topic": robot_topics['dvl_altitude'],
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"pressure_pub_topic": f"/{namespace}/nucleus/pressure", # Not used atm
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"magnetometer_pub_topic": robot_topics['magnetometer'],
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"ins_twist_pub_topic": f"/{namespace}/nucleus/ins/twist",
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"ins_position_pub_topic": f"/{namespace}/nucleus/ins/position",
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"ins_pose_pub_topic": f"/{namespace}/nucleus/ins/pose",
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'imu_settings.freq': 125,
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'ahrs_settings.freq': 10,
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'ahrs_settings.mode': 0,
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'bottom_track_settings.mode': 2,
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'bottom_track_settings.velocity_range': 5,
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'bottom_track_settings.enable_watertrack': False,
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'fast_pressure_settings.enable': True,
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'fast_pressure_settings.sampling_rate': 16,
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'magnetometer_settings.freq': 75,
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'magnetometer_settings.mode': 0,
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'instrument_settings.rotxy': 0.0,
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'instrument_settings.rotyz': 0.0,
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'instrument_settings.rotxz': 0.0,
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}
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]
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if standalone:
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return [
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Node(
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package='nortek_nucleus_ros_interface',
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executable='nortek_nucleus_ros_interface_node',
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name='nortek_nucleus_ros_interface_node',
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namespace=namespace,
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parameters=parameters,
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output='screen',
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)
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]
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else:
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return [
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LoadComposableNodes(
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target_container=container_name,
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composable_node_descriptions=[
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ComposableNode(
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package='nortek_nucleus_ros_interface',
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plugin='NortekNucleusRosInterface',
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name='nortek_nucleus_ros_interface_node',
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namespace=namespace,
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parameters=parameters,
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extra_arguments=[{'use_intra_process_comms': True}],
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)
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],
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)
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]
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def generate_launch_description():
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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'standalone',
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default_value='true',
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description=(
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'true = launch as a regular node; '
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'false = attach to an existing container named by container_name'
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),
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),
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DeclareLaunchArgument(
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'container_name',
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default_value='',
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description='Container to attach to when standalone=false',
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),
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]
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+ declare_drone_and_namespace_args()
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+ [OpaqueFunction(function=_launch_setup)]
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)

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