Refactor bringup and process settings configuration

pendulum_bringup/launch/controller_bringup.launch.py

@@ -0,0 +1,54 @@
+# Copyright 2019 Carlos San Vicente
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+import launch.substitutions
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # Get the bringup directory
+    bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
+
+    # Set parameter file path
+    param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
+    param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
+
+    with_controller_param = DeclareLaunchArgument(
+        'controller',
+        default_value='True',
+        description='Launch controller node'
+    )
+
+    # Node definitions
+    pendulum_controller_runner = Node(
+        package='pendulum_controller',
+        executable='pendulum_controller_exe',
+        output='screen',
+        parameters=[param_file],
+        arguments=[],
+        condition=IfCondition(LaunchConfiguration('controller'))
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(with_controller_param)
+    ld.add_action(pendulum_controller_runner)
+
+    return ld

pendulum_bringup/launch/driver_bringup.launch.py

@@ -0,0 +1,53 @@
+# Copyright 2019 Carlos San Vicente
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+import launch.substitutions
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # Get the bringup directory
+    bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
+
+    # Set parameter file path
+    param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
+    param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
+
+    with_driver_param = DeclareLaunchArgument(
+        'driver',
+        default_value='True',
+        description='Launch driver node'
+    )
+
+    pendulum_driver_runner = Node(
+        package='pendulum_driver',
+        executable='pendulum_driver_exe',
+        output='screen',
+        parameters=[param_file],
+        arguments=[],
+        condition=IfCondition(LaunchConfiguration('driver'))
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(pendulum_driver_runner)
+    ld.add_action(with_driver_param)
+
+    return ld

pendulum_bringup/launch/pendulum_bringup.launch.py

@@ -15,112 +15,27 @@
 import os
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.conditions import IfCondition
-import launch.substitutions
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 def generate_launch_description():
     # Get the bringup directory
     bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
 
-    # Set robot description parameters
-    urdf_file = os.path.join(bringup_dir, 'urdf', 'pendulum.urdf')
-    with open(urdf_file, 'r') as infp:
-        robot_desc = infp.read()
-    rsp_params = {'robot_description': robot_desc}
-
-    # Set parameter file path
-    param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
-    param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
-
-    # Set rviz config path
-    rviz_cfg_path = os.path.join(bringup_dir, 'rviz/pendulum.rviz')
-
-    # Create the launch configuration variables
-    autostart_param = DeclareLaunchArgument(
-        name='autostart',
-        default_value='True',
-        description='Automatically start lifecycle nodes')
-    priority_param = DeclareLaunchArgument(
-        name='priority',
-        default_value='0',
-        description='Set process priority')
-    cpu_affinity_param = DeclareLaunchArgument(
-        name='cpu-affinity',
-        default_value='0',
-        description='Set process CPU affinity')
-    with_lock_memory_param = DeclareLaunchArgument(
-        name='lock-memory',
-        default_value='False',
-        description='Lock the process memory')
-    lock_memory_size_param = DeclareLaunchArgument(
-        name='lock-memory-size',
-        default_value='0',
-        description='Set lock memory size in MB')
-    config_child_threads_param = DeclareLaunchArgument(
-        name='config-child-threads',
-        default_value='False',
-        description='Configure process child threads (typically DDS threads)')
-    with_rviz_param = DeclareLaunchArgument(
-        'rviz',
-        default_value='False',
-        description='Launch RVIZ2 in addition to other nodes'
+    rviz_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([bringup_dir, '/launch/rviz.launch.py'])
     )
-
-    # Node definitions
-    pendulum_demo_runner = Node(
-        package='pendulum_demo',
-        executable='pendulum_demo_waitset',
-        output='screen',
-        parameters=[param_file],
-        arguments=[
-           '--autostart', LaunchConfiguration('autostart'),
-           '--priority', LaunchConfiguration('priority'),
-           '--cpu-affinity', LaunchConfiguration('cpu-affinity'),
-           '--lock-memory', LaunchConfiguration('lock-memory'),
-           '--lock-memory-size', LaunchConfiguration('lock-memory-size'),
-           '--config-child-threads', LaunchConfiguration('config-child-threads')
-           ]
+    controller_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([bringup_dir, '/launch/controller.launch.py'])
     )
-
-    robot_state_publisher_runner = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        output='screen',
-        parameters=[rsp_params],
-        condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    rviz_runner = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        arguments=['-d', str(rviz_cfg_path)],
-        condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    pendulum_state_publisher_runner = Node(
-        package='pendulum_state_publisher',
-        executable='pendulum_state_publisher',
-        condition=IfCondition(LaunchConfiguration('rviz'))
+    driver_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([bringup_dir, '/launch/driver.launch.py'])
     )
 
     ld = LaunchDescription()
-
-    ld.add_action(autostart_param)
-    ld.add_action(priority_param)
-    ld.add_action(cpu_affinity_param)
-    ld.add_action(with_lock_memory_param)
-    ld.add_action(lock_memory_size_param)
-    ld.add_action(config_child_threads_param)
-    ld.add_action(with_rviz_param)
-    ld.add_action(robot_state_publisher_runner)
-    ld.add_action(pendulum_demo_runner)
-    ld.add_action(rviz_runner)
-    ld.add_action(pendulum_state_publisher_runner)
+    ld.add_action(controller_launch)
+    ld.add_action(driver_launch)
+    ld.add_action(rviz_launch)
 
     return ld

pendulum_bringup/launch/pendulum_bringup_rviz.launch.py

@@ -70,8 +70,49 @@ def generate_launch_description():
         default_value='False',
         description='Launch RVIZ2 in addition to other nodes'
     )
+    with_controller_param = DeclareLaunchArgument(
+        'controller',
+        default_value='True',
+        description='Launch controller node'
+    )
+    with_driver_param = DeclareLaunchArgument(
+        'driver',
+        default_value='True',
+        description='Launch driver node'
+    )
 
     # Node definitions
+    pendulum_controller_runner = Node(
+        package='pendulum_controller',
+        executable='pendulum_controller_exe',
+        output='screen',
+        parameters=[param_file],
+        arguments=[
+            '--autostart', LaunchConfiguration('autostart'),
+            '--priority', LaunchConfiguration('priority'),
+            '--cpu-affinity', LaunchConfiguration('cpu-affinity'),
+            '--lock-memory', LaunchConfiguration('lock-memory'),
+            '--lock-memory-size', LaunchConfiguration('lock-memory-size'),
+            '--config-child-threads', LaunchConfiguration('config-child-threads')
+        ],
+        condition=IfCondition(LaunchConfiguration('controller'))
+    )
+
+    pendulum_driver_runner = Node(
+        package='pendulum_driver',
+        executable='pendulum_driver_exe',
+        output='screen',
+        parameters=[param_file],
+        arguments=[
+            '--autostart', LaunchConfiguration('autostart'),
+            '--priority', LaunchConfiguration('priority'),
+            '--cpu-affinity', LaunchConfiguration('cpu-affinity'),
+            '--lock-memory', LaunchConfiguration('lock-memory'),
+            '--lock-memory-size', LaunchConfiguration('lock-memory-size'),
+            '--config-child-threads', LaunchConfiguration('config-child-threads')
+        ],
+        condition=IfCondition(LaunchConfiguration('driver'))
+    )
 
     robot_state_publisher_runner = Node(
         package='robot_state_publisher',
@@ -104,8 +145,11 @@ def generate_launch_description():
     ld.add_action(lock_memory_size_param)
     ld.add_action(config_child_threads_param)
     ld.add_action(with_rviz_param)
+    ld.add_action(with_controller_param)
+    ld.add_action(with_driver_param)
     ld.add_action(robot_state_publisher_runner)
-    #ld.add_action(pendulum_demo_runner)
+    ld.add_action(pendulum_controller_runner)
+    ld.add_action(pendulum_driver_runner)
     ld.add_action(rviz_runner)
     ld.add_action(pendulum_state_publisher_runner)
 

pendulum_bringup/launch/rviz.launch.py

@@ -0,0 +1,79 @@
+# Copyright 2019 Carlos San Vicente
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+import launch.substitutions
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # Get the bringup directory
+    bringup_dir = FindPackageShare('pendulum_bringup').find('pendulum_bringup')
+
+    # Set robot description parameters
+    urdf_file = os.path.join(bringup_dir, 'urdf', 'pendulum.urdf')
+    with open(urdf_file, 'r') as infp:
+        robot_desc = infp.read()
+    rsp_params = {'robot_description': robot_desc}
+
+    # Set parameter file path
+    param_file_path = os.path.join(bringup_dir, 'params', 'pendulum.param.yaml')
+    param_file = launch.substitutions.LaunchConfiguration('params', default=[param_file_path])
+
+    # Set rviz config path
+    rviz_cfg_path = os.path.join(bringup_dir, 'rviz/pendulum.rviz')
+
+    # Create the launch configuration variables
+    with_rviz_param = DeclareLaunchArgument(
+        'rviz',
+        default_value='False',
+        description='Launch RVIZ2 in addition to other nodes'
+    )
+
+    robot_state_publisher_runner = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[rsp_params],
+        condition=IfCondition(LaunchConfiguration('rviz'))
+    )
+
+    rviz_runner = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', str(rviz_cfg_path)],
+        condition=IfCondition(LaunchConfiguration('rviz'))
+    )
+
+    pendulum_state_publisher_runner = Node(
+        package='pendulum_state_publisher',
+        executable='pendulum_state_publisher',
+        condition=IfCondition(LaunchConfiguration('rviz'))
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(with_rviz_param)
+    ld.add_action(robot_state_publisher_runner)
+    ld.add_action(rviz_runner)
+    ld.add_action(pendulum_state_publisher_runner)
+
+    return ld