Merge pull request #62 from rogy-AquaLab/launch

rogy-AquaLab · Nov 28, 2024 · 74f2239 · 74f2239
2 parents 333da55 + a7f5c46
commit 74f2239
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Showing 20 changed files with 224 additions and 40 deletions.
diff --git a/app/imshow/launch/imshow_launch.py b/app/imshow/launch/imshow_launch.py
@@ -20,6 +20,7 @@ def generate_launch_description() -> LaunchDescription:
         "log_level",
         default_value="info",
         choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
     )
     index = LaunchConfiguration("index")
     log_level = LaunchConfiguration("log_level")

diff --git a/app/power_map/launch/power_map_launch.py b/app/power_map/launch/power_map_launch.py
@@ -14,6 +14,7 @@ def generate_launch_description():
         "log_level",
         default_value="info",
         choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
     )
     log_level = LaunchConfiguration("log_level")
     power_map = Node(

diff --git a/app/simple_joy_app/launch/app_launch.py b/app/simple_joy_app/launch/app_launch.py
@@ -9,6 +9,7 @@ def generate_launch_description():
         "log_level",
         default_value="info",
         choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
     )
     log_level = LaunchConfiguration("log_level")
     app = Node(

diff --git a/device/camera_reader/launch/camera_reader_launch.py b/device/camera_reader/launch/camera_reader_launch.py
@@ -21,6 +21,13 @@ def camera_node(**kwargs: Any) -> Node:
 
 def generate_launch_description() -> LaunchDescription:
     index_arg = DeclareLaunchArgument("index", default_value="-1")
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     index = LaunchConfiguration("index")
     index_specified = PythonExpression([index, ">= 0"])
     default_config_path = PathJoinSubstitution(
@@ -30,13 +37,15 @@ def generate_launch_description() -> LaunchDescription:
         name=["camera_", index],
         parameters=[{"camera_id": index}],
         remappings=[("/device/camera_image", ["/packet/camera_image_", index])],
+        ros_arguments=["--log-level", log_level],
         condition=IfCondition(index_specified),
     )
     unuse_index = camera_node(
         parameters=[default_config_path],
         remappings=[("/device/camera_image", "/packet/camera_image")],
+        ros_arguments=["--log-level", log_level],
         condition=UnlessCondition(index_specified),
     )
     return LaunchDescription(
-        [index_arg, use_index, unuse_index],
+        [index_arg, log_level_arg,use_index, unuse_index],
     )
diff --git a/device/joystick/joystick/joystick.py b/device/joystick/joystick/joystick.py
@@ -12,7 +12,7 @@ def __init__(self):
         super().__init__("joystick")
         self._timer = self.create_timer(0.05, self._timer_callback)
         self._joy_publisher = self.create_publisher(Joy, "joystick", 10)
-        # TODO: ここparameterで変えられるようにしたい
+        # TODO : ここparameterで変えられるようにしたい
         self._joystick = pygame.joystick.Joystick(0)
         # logging
         name = self._joystick.get_name()

diff --git a/device/joystick/launch/joystick_launch.py b/device/joystick/launch/joystick_launch.py
@@ -1,15 +1,33 @@
+from typing import Any
+
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
-    return LaunchDescription(
-        [
-            Node(
-                package="joystick",
-                executable="joystick",
-                namespace="device",
-                remappings=[("/device/joystick", "/packet/joystick")],
-            ),
-        ],
+def joystick_node(**kwargs: Any) -> Node:
+    kwargs["package"] = "joystick"
+    kwargs["executable"] = "joystick"
+    kwargs["namespace"] = "device"
+    return Node(**kwargs)
+
+
+def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
     )
+    log_level = LaunchConfiguration("log_level")
+
+    joystick = Node(
+        package="joystick",
+        executable="joystick",
+        namespace="device",
+        remappings=[("/device/joystick", "/packet/joystick")],
+        ros_arguments=["--log-level", log_level],
+    )
+
+    return LaunchDescription([log_level_arg, joystick])
diff --git a/device/nucleo_communicate/launch/channel_launch.py b/device/nucleo_communicate/launch/channel_launch.py
@@ -1,8 +1,17 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     channel = Node(
         package="nucleo_communicate",
         executable="nucleo-channel",
@@ -17,5 +26,6 @@ def generate_launch_description():
             ("/device/initialize", "/packet/order/initialize"),
             ("/device/suspend", "/packet/order/suspend"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([channel])
+    return LaunchDescription([log_level_arg, channel])
diff --git a/device/nucleo_communicate_py/launch/channel_launch.py b/device/nucleo_communicate_py/launch/channel_launch.py
@@ -1,8 +1,17 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     main = Node(
         package="nucleo_communicate_py",
         executable="channel",
@@ -15,5 +24,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/quit", "/packet/order/quit"),
             ("/device/order/power", "/packet/order/power"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([main])
+    return LaunchDescription([log_level_arg, main])
diff --git a/device/nucleo_communicate_py/launch/receiver_launch.py b/device/nucleo_communicate_py/launch/receiver_launch.py
@@ -1,8 +1,17 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     receiver = Node(
         package="nucleo_communicate_py",
         executable="receiver",
@@ -13,5 +22,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/current", "/packet/sensor/current"),
             ("/device/voltage", "/packet/sensor/voltage"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([receiver])
+    return LaunchDescription([log_level_arg, receiver])
diff --git a/device/nucleo_communicate_py/launch/sender_launch.py b/device/nucleo_communicate_py/launch/sender_launch.py
@@ -1,8 +1,17 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     sender = Node(
         package="nucleo_communicate_py",
         executable="sender",
@@ -11,5 +20,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/quit", "/packet/order/quit"),
             ("/device/order/power", "/packet/order/power"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([sender])
+    return LaunchDescription([log_level_arg, sender])
diff --git a/device/pi_i2c/launch/all_launch.py b/device/pi_i2c/launch/all_launch.py
@@ -1,12 +1,22 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     all_exec = Node(
         package="pi_i2c",
         executable="all",
         namespace="device",
         remappings=[("/device/imu", "/packet/sensors/imu")],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([all_exec])
+    return LaunchDescription([log_level_arg, all_exec])
diff --git a/device/pi_i2c/launch/depth_launch.py b/device/pi_i2c/launch/depth_launch.py
@@ -1,11 +1,21 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     depth = Node(
         package="pi_i2c",
         executable="depth",
         namespace="device",
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([depth])
+    return LaunchDescription([log_level_arg, depth])
diff --git a/device/pi_i2c/launch/imu_launch.py b/device/pi_i2c/launch/imu_launch.py
@@ -1,12 +1,22 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     imu = Node(
         package="pi_i2c",
         executable="imu",
         namespace="device",
         remappings=[("/device/imu", "/packet/sensors/imu")],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([imu])
+    return LaunchDescription([log_level_arg, imu])
diff --git a/device/pi_led/launch/led_launch.py b/device/pi_led/launch/led_launch.py
@@ -20,9 +20,17 @@ def led_node(**kwargs: Any) -> Node:
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_valye="info",
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log-level")
     # arguments
     variant_arg = DeclareLaunchArgument(
-        "variant", default_value="default", choices=["default", "right", "left", "custom"]
+        "variant",
+        default_value="default",
+        choices=["default", "right", "left", "custom"],
     )
     param_file_arg = DeclareLaunchArgument("param_file", default_value="")
     # substitutions
@@ -42,27 +50,32 @@ def generate_launch_description() -> LaunchDescription:
     use_default = led_node(
         parameters=[right_param_file],
         remappings=[("/device/led_color", "/packet/order/led_color")],
+        ros_arguments=["--log-level", log_level],
         condition=IfCondition(variant_is_default),
     )
     use_right = led_node(
         name="led_right",
         parameters=[right_param_file],
         remappings=[("/device/led_color", "/packet/order/led_color_right")],
+        ros_arguments=["--log-level", log_level],
         condition=IfCondition(variant_is_right),
     )
     use_left = led_node(
         name="led_left",
         parameters=[left_param_file],
         remappings=[("/device/led_color", "/packet/order/led_color_left")],
+        ros_arguments=["--log-level", log_level],
         condition=IfCondition(variant_is_left),
     )
     use_custom = led_node(
         name="led_custom",
         parameters=[param_file],
         remappings=[("/device/led_color", "/packet/order/led_color_custom")],
+        ros_arguments=["--log-level", log_level],
         condition=IfCondition(variant_is_custom),
     )
 
     return LaunchDescription(
-        [variant_arg, param_file_arg, use_default, use_right, use_left, use_custom]
+        [log_level_arg,variant_arg, param_file_arg, use_default, use_right,
+          use_left, use_custom]
     )
diff --git a/ul/launch/double_camera.py b/ul/launch/double_camera.py
@@ -1,11 +1,18 @@
 from launch import LaunchDescription
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+        description="Logging level for the nodes",
+    )
+    log_level = LaunchConfiguration("log_level")
     camera0 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -22,5 +29,11 @@ def generate_launch_description() -> LaunchDescription:
         ),
         launch_arguments=[("index", "1")],
     )
-    cameras = GroupAction([camera0, camera1], forwarding=False)
-    return LaunchDescription([cameras])
+    cameras = GroupAction([camera0, camera1],
+                          forwarding=False,
+                          launch_configurations={
+                            "log_level":log_level,
+                            }
+    )
+
+    return LaunchDescription([log_level_arg, cameras])