ap1 launch file pnc

src/ap1_launch/launch/ap1.launch.py

@@ -0,0 +1,91 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, TimerAction
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch.conditions import IfCondition
+from launch_ros.actions import Node
+
+'''
+Official P&C Launch File
+
+Example usage:
+
+  ros2 launch ap1_launch ap1.launch.py \
+    control_cfg:=/path/to/control_node_cfg.csv \
+    map_file_path:=/path/to/MyMap.osm \
+    use_sim:=true
+    t
+By default, control_cfg points to the installed:
+  share/ap1_control/config/control_node_cfg.csv
+
+pnc_sim is optional via the use_sim argument.
+
+'''
+
+
+def generate_launch_description():
+
+    # this is gonna go crazy and find the csv file within the control directory
+    default_cfg = os.path.join(
+        get_package_share_directory('ap1_control'),
+        'config',
+        'control_node_cfg.csv',
+    )
+
+    map_file_arg = DeclareLaunchArgument(
+        'map_file_path',
+        default_value='',
+        description='Path to Lanelet2 map file (OSM). Leave empty for mock road.'
+    )
+
+    use_sim_arg = DeclareLaunchArgument(
+        'use_sim',
+        default_value='false',
+        description='Whether to start ap1_pnc_sim (true/false)'
+    )
+
+    control_cfg_arg = DeclareLaunchArgument(
+        'control_cfg',
+        default_value=TextSubstitution(text=default_cfg),
+        description='Path to control_node CSV config file'
+    )
+
+    # ===== Nodes =====
+    control = Node(
+        package='ap1_control',
+        executable='control_node',
+        name='ap1_control',
+        output='log',
+        arguments=[LaunchConfiguration('control_cfg')],
+    )
+
+    planner = Node(
+        package='ap1_planning',
+        executable='planner_node',
+        name='ap1_planning',
+        output='log',
+        parameters=[{
+            'map_file_path': LaunchConfiguration('map_file_path')
+        }],
+    )
+
+    sim = Node(
+        package='ap1_pnc_sim',
+        executable='pnc_sim_node',
+        name='sim_node',
+        output='log',
+        condition=IfCondition(LaunchConfiguration('use_sim')),
+    )
+
+    return LaunchDescription([
+        control_cfg_arg,
+        map_file_arg,
+        use_sim_arg,
+
+        control,
+        TimerAction(period=2.0, actions=[planner]),
+        TimerAction(period=4.0, actions=[sim]),
+    ])

src/ap1_launch/launch/pnc_backend.launch.py

@@ -1,5 +1,6 @@
 from launch import LaunchDescription
-from launch.actions import TimerAction
+from launch.actions import DeclareLaunchArgument, TimerAction
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 '''
@@ -8,34 +9,45 @@
 it will get planning, control and the sim up and running 
 '''
 
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, TimerAction
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
 def generate_launch_description():
+    default_cfg = os.path.join(
+        get_package_share_directory('ap1_control'),
+        'config',
+        'control_node_cfg.csv',
+    )
+
+    control_cfg_arg = DeclareLaunchArgument(
+        'control_cfg',
+        default_value=TextSubstitution(text=default_cfg),
+        description='Path to control_node CSV config file'
+    )
+
     control = Node(
         package='ap1_control',
         executable='control_node',
         name='ap1_control',
-        output='screen', 
-        arguments=[
-            # should be removed down the line, using a filler for now 
-            '/home/obaidmm/Repo/ap1/src/planning_and_control/control/control_node_cfg.csv',
-        ],
+        output='log',
+        arguments=[LaunchConfiguration('control_cfg')],
     )
 
     planner = Node(
         package='ap1_planning',
         executable='planner_node',
         name='ap1_planning',
-        output='screen',
-    )
-
-    sim = Node(
-        package='ap1_pnc_sim',
-        executable='pnc_sim_node',
-        name='sim_node',
-        output='screen',
+        output='log',
     )
 
     return LaunchDescription([
+        control_cfg_arg,
         control,
         TimerAction(period=2.0, actions=[planner]),
-        TimerAction(period=4.0, actions=[sim]),
     ])