launch_pal package from launch_pal repo

launch_pal

Package Summary

Tags No category tags.
Version 0.1.10
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/launch_pal.git
VCS Type git
VCS Version master
Last Updated 2024-05-17
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Utilities for launch files

Additional Links

Maintainers

  • Jordan Palacios
  • Noel Jimenez

Authors

No additional authors.

launch_pal

Utilities for simplifying some common ROS2 launch operations.

robot_arguments

Contains classes to read launch argument settings directly from a YAML file, grouped per robot type. For each argument the name, the description, default value and possible choices are provided. The classes can be imported to remove boilerplate of robot launch arguments.

One special class, RobotArgs , contains all available launch arguments for PAL Robots. These arguments consist of only a name and description.

Example:

from launch_pal.arg_utils import LaunchArgumentsBase
from launch_pal.robot_arguments import TiagoArgs, RobotArgs
from launch.actions import DeclareLaunchArgument
from dataclasses import dataclass

@dataclass(frozen=True)
class LaunchArguments(LaunchArgumentsBase):

    # Tiago specific settings
    wheel_model: DeclareLaunchArgument = TiagoArgs.wheel_model
    # Robot agnostic argument
    base_type: DeclareLaunchArgument = RobotArgs.base_type

arg_utils

Contains utilities for declaring launch arguments and removing boiler plate.

An example of the use can be found in the launch_tutorial package that compares the standard boilerplate with the an updated version of the launch file. This updated version also provides a structured architecture that seperates launch arguments from other launch actions.

LaunchArgumentsBase: A dataclass that contains only DeclareLaunchArgument objects. The class is used to ease the process of adding launch arguments to the launch description. Has member function add_to_launch_description to automatically add all launch arguments to the launch description.

read_launch_argument: Used in Opaque functions to read the value of a launch argument and substitute it to text.

param_utils

Contains utilities for merging yaml parameter files or replace parametric variables in a param file.

parse_parametric_yaml: Checks yaml files for variables of layout ${VAR_NAME}and parses them. Parsing is done by giving a dictionary as input:

parse_dict = { VAR_NAME_1: value_1,
               VAR_NAME_2: value_2}

merge_param_files: Merges multiple yaml files into one single file to be loaded by a node.

include_utils

Contains utilities to reduce the boilerplate necessary for including files.

include_launch_py_description: Include a python launch file.

include_scoped_launch_py_description: Include a python launch file but avoid all launch arguments to be passed on by default. Any required launch arguments have to explicitly passed on to the launch file.

    scoped_launch_file = include_scoped_launch_py_description(pkg_name='my_pkg', 
    paths=['launch','my_file.launch.py'],
    launch_arguments={ 'arg_a': DeclareLaunchArgument('arg_a'),
                       'arg_2': DeclareLaunchArgument('arg_b'),
                       'arg_c': LaunchConfiguration('arg_c'),
                       'arg_d': "some_value' }
    env_vars=[SetEnvironmentVariable("VAR_NAME", 'value)]
    condition=IfCondition(LaunchConfiguration('arg_a')))

NOTE: This mimics the behavior of including launch files in ROS 1. Helpful in large launch files structures to avoid launch arguments to be overwritten by accident.

robot_utils (DEPRECATED)

Declare a single launch argument given by the robot name.

Example:

robot_name = 'tiago'
laser_model_arg = get_laser_model(robot_name)

CHANGELOG

Changelog for package launch_pal

0.1.10 (2024-05-17)

  • Merge branch \'omm/feat/rgdb_sensors_rename\' into \'master\' Proper courier_rgbd_sensor name See merge request common/launch_pal!52
  • Proper courier_rgbd_sensor name
  • Contributors: davidterkuile, oscarmartinez

0.1.9 (2024-05-16)

  • Merge branch \'VKG/fix/screen-parameters\' into \'master\' fixed screen parameters, edited configuration and robot argument files See merge request common/launch_pal!51
  • typo fixed
  • fixed screen parameters, edited configuration and robot argument files
  • Contributors: Vamsi GUDA, davidterkuile

0.1.8 (2024-05-15)

  • Merge branch \'omm/common_pos_args\' into \'master\' Robot position args added to common See merge request common/launch_pal!50
  • Robot position args added to common
  • Contributors: davidterkuile, oscarmartinez

0.1.7 (2024-05-09)

  • Merge branch \'dtk/fix/bool-args\' into \'master\' Set all boolean robot args to capital value See merge request common/launch_pal!49
  • Set all boolean robot args to capital value
  • Contributors: Noel Jimenez, davidterkuile

0.1.6 (2024-05-08)

  • added tuck arm parameter
  • Contributors: sergiacosta

0.1.5 (2024-04-26)

  • fix tests
  • fix _parse_config to be able to have a variable between text
  • Contributors: Aina Irisarri

0.1.4 (2024-04-12)

  • Added is_public_sim action check
  • Add wheel model
  • Remove wrong realsense camera arg name
  • Contributors: David ter Kuile, Oscar, davidterkuile

0.1.3 (2024-04-09)

  • Changed arm name from sea to tiago-sea for standarization
  • Contributors: Oscar

0.1.2 (2024-04-08)

  • Avoid breaking tiago pro tests
  • Update realsense name in camera rgument
  • Contributors: David ter Kuile, davidterkuile

0.1.1 (2024-03-21)

  • Fix flake test
  • Add sensor manager as common arg
  • Contributors: David ter Kuile, davidterkuile

0.1.0 (2024-03-20)

  • Update default values
  • Remove unsupported lasers for now
  • Change common param to is_public_sim
  • Add extra common launch args
  • Add wrist model for spherical wrist
  • Add tiago pro config
  • Fixed base_type and arm_type
  • Suggested changess
  • Standarized config names
  • Configs for tiago_sea
  • Removed has_screen from tiago_sea
  • Update config to tiago sea specific arguments
  • Fixing tiago_dual_configuration
  • Velodyne param added
  • Tiago sea dual params
  • Tiago sea params
  • Create a class that contains frequently used Launch arguments to avoid mismatching Uppercase/lowercase
  • Contributors: David ter Kuile, Oscar, Oscar Martinez, davidterkuile

0.0.18 (2024-01-31)

  • Remove right-arm option for tiago
  • Contributors: Noel Jimenez

0.0.17 (2024-01-29)

  • tiago_pro robot_name added in the possible choices
  • Contributors: ileniaperrella

0.0.16 (2024-01-18)

  • removing epick
  • adding robotiq as end effector for tiago dual
  • Adding pal_robotiq grippers as part of choises for the end_effector in ros2
  • Contributors: Aina Irisarri

0.0.15 (2024-01-17)

  • Add right-arm as arm type for backwards compability
  • Change arm type from right-arm to tiago-arm
  • Remove unecessary whitelines
  • Update README
  • Contributors: David ter Kuile

0.0.14 (2023-12-04)

  • Update style errors
  • fix typo and add type hint
  • update typo
  • Update configuration file keywords
  • Enable autocomplete for robot arguments
  • Use assertDictEqual in test
  • Type hint and use get_share_directory function
  • update readme
  • Add tests
  • Update include scoped launch for more intuitive use
  • Contributors: David ter Kuile

0.0.13 (2023-11-29)

  • Remove triple quotes
  • Add docstrings and update README
  • Change yaml file to single quotes
  • change to double quotes to be consistent in robot config yaml
  • Update linting
  • Update tiaog config and add tiago_dual config
  • Add launch arg factory
  • Update linting
  • Add get_configuration function to robotConfig
  • Update tiago configuration
  • Add base dataclass with for launch args
  • update linting
  • Update types
  • loop over value instead of items
  • A bit of documentation
  • Add scoped launch file inclusion
  • Create function to translate setting to launch arg
  • Create initial version of robot configuration
  • Contributors: David ter Kuile

0.0.12 (2023-11-14)

  • Add website tag
  • added support for omni_base
  • Contributors: Noel Jimenez, andreacapodacqua

0.0.11 (2023-11-09)

  • Initial ARI support
  • autopep8 line wrapping
  • Contributors: S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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launch_pal package from launch_pal repo

launch_pal

Package Summary

Tags No category tags.
Version 0.0.2
License Apache
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/launch_pal.git
VCS Type git
VCS Version foxy-devel
Last Updated 2021-03-15
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Utilities for launch files

Additional Links

No additional links.

Maintainers

  • user

Authors

No additional authors.

launch_pal

Utilities for simplifying some common ROS2 launch operations.

CHANGELOG

Changelog for package launch_pal

0.0.2 (2021-03-15)

  • Added missing dependencies
  • Contributors: Jordan Palacios

0.0.1 (2021-03-15)

  • Add CONTRIBUTING and LICENSE
  • Apply linter fixes
  • Add param_utils
  • PAL utils for ROS2 launch files
  • Contributors: Victor Lopez

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged launch_pal at Robotics Stack Exchange

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.