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launch_pal package from launch_pal repolaunch_pal |
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Package Summary
Tags | No category tags. |
Version | 0.1.15 |
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 | 2024-07-04 |
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
Additional Links
Maintainers
- Jordan Palacios
- Noel Jimenez
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
get_pal_configuration
Implementation of the PAL's PAPS-007 standard for configuration management.
Retrieves all the parameters, remappings and arguments for a given node by
looking for ament_index
-registered YAML configurations file. It properly handle
overloading of parameters, enabling for instance to have a default configuration
and a specific configuration for a given robot family or robot unit.
Usage:
#...
from launch_pal import get_pal_configuration
def generate_launch_description():
ld = LaunchDescription()
config = get_pal_configuration(pkg='pkg_name',
node='node_name',
ld=ld, # optional; only used for logging
)
my_node = Node(
name='node_name',
namespace='',
package='pkg_name',
executable='node_executable',
parameters=config['parameters'],
remappings=config['remappings'],
arguments=config['arguments'],
)
# ...
ld.add_action(my_node)
return ld
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.
composition_utils
Contains utilities to reduce the boilerplate necessary for using ROS 2 components
generate_component_list
: generates a list of composable nodes from a YAML and a package name, ready to be added or loaded into a ComposableNodeContainer:
components:
<COMPONENT-NAME>:
type: <DIAGNOSTIC-TYPE>
ros__parameters:
name: <FULL-DIAGNOSTIC_DESCRIPTOR>
[<REST-OF-PARAMS>]
It can be used from a launch file like:
component_list = generate_component_list(components_yaml, pkg_name)
And then added normally to a container:
container = ComposableNodeContainer(
name="container_name",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=component_list,
)
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 for package launch_pal
0.1.15 (2024-07-04)
- Merge branch \'omm/feat/composition_utils\' into \'master\' Composition utils See merge request common/launch_pal!38
- Added package field for extended usability
- Readme and new type variable name
- Removing pal_computer_monitor dep
- Composition utils to generate containers from a yaml files
- Merge branch \'paps007\' into \'master\' Add implementation of PAPS-007 \'get_pal_configuration\' See merge request common/launch_pal!57
- add impl of PAPS-007 \'get_pal_configuration\'
- Merge branch \'abr/feat/advanced-navigation\' into \'master\' added advanced navigation See merge request common/launch_pal!58
- added advanced navigation
- Contributors: Noel Jimenez, Oscar, S
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_copyright | |
1 | ament_flake8 | |
1 | ament_pep257 | |
1 | ament_index_python | |
1 | launch | |
2 | launch_ros |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged launch_pal at Robotics Stack Exchange
![]() |
launch_pal package from launch_pal repolaunch_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
Additional Links
Maintainers
- user
Authors
launch_pal
Utilities for simplifying some common ROS2 launch operations.
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
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_copyright | |
1 | ament_flake8 | |
1 | ament_pep257 | |
1 | ament_index_python | |
1 | launch |