launch_pal

Utilities for simplifying some common ROS2 launch operations.

robot_config

Contains utilities to read launch argument settings directly from a YAML file, grouped per robot type. Used to to automate argument declaration for the robots by launch_arg_factory .

arg_utils

Contains utilities for declaring launch arguments and removing boiler plate.

launch_arg_factory: Combines an existing LaunchArgumentsBase dataclass with robot specific launch arguments. These robot specific arguments are directly loaded from a yaml file.

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.

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 for package launch_pal

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