add launch_configurations

rogy-AquaLab · Aug 24, 2024 · a7f5c46 · a7f5c46
1 parent 75d6769
commit a7f5c46
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Showing 4 changed files with 32 additions and 12 deletions.
diff --git a/ul/launch/double_camera.py b/ul/launch/double_camera.py
@@ -19,15 +19,21 @@ def generate_launch_description() -> LaunchDescription:
                 [FindPackageShare("camera_reader"), "launch", "camera_reader_launch.py"]
             )
         ),
-        launch_arguments=[("index", "0"), ("log_level", log_level)],
+        launch_arguments=[("index", "0")],
     )
     camera1 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("camera_reader"), "launch", "camera_reader_launch.py"]
             )
         ),
-        launch_arguments=[("index", "1"), ("log_level", log_level)],
+        launch_arguments=[("index", "1")],
     )
-    cameras = GroupAction([camera0, camera1], forwarding=False)
+    cameras = GroupAction([camera0, camera1],
+                          forwarding=False,
+                          launch_configurations={
+                            "log_level":log_level,
+                            }
+    )
+
     return LaunchDescription([log_level_arg, cameras])
diff --git a/ul/launch/double_imshow.py b/ul/launch/double_imshow.py
@@ -20,15 +20,20 @@ def generate_launch_description() -> LaunchDescription:
                 [FindPackageShare("imshow"), "launch", "imshow_launch.py"]
             )
         ),
-        launch_arguments=[("index", "0"), ("log_level", log_level)],
+        launch_arguments=[("index", "0")],
     )
     imshow1 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("imshow"), "launch", "imshow_launch.py"]
             )
         ),
-        launch_arguments=[("index", "1"), ("log_level", log_level)],
+        launch_arguments=[("index", "1")],
+    )
+    imshows = GroupAction([imshow0, imshow1],
+                          forwarding=False,
+                          launch_configurations={
+                              "log_level":log_level,
+                          }
     )
-    imshows = GroupAction([imshow0, imshow1], forwarding=False)
     return LaunchDescription([log_level_arg, imshows])
diff --git a/ul/launch/double_led.py b/ul/launch/double_led.py
@@ -17,13 +17,18 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             PathJoinSubstitution([FindPackageShare("pi_led"), "launch", "led_launch.py"])
         ),
-        launch_arguments=[("variant", "right"), ("log_level", log_level)],
+        launch_arguments=[("variant", "right")],
     )
     led_left = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution([FindPackageShare("pi_led"), "launch", "led_launch.py"])
         ),
-        launch_arguments=[("variant", "left"), ("log_level", log_level)],
+        launch_arguments=[("variant", "left")],
+    )
+    leds = GroupAction([led_left, led_right],
+                       forwarding=False,
+                       launch_configurations={
+                           "log_level":log_level,
+                       }
     )
-    leds = GroupAction([led_left, led_right], forwarding=False)
     return LaunchDescription([log_level_arg, leds])
diff --git a/ul/launch/nucleo_channel.py b/ul/launch/nucleo_channel.py
@@ -18,7 +18,11 @@ def generate_launch_description() -> LaunchDescription:
             PathJoinSubstitution(
                 [FindPackageShare("nucleo_communicate"), "launch", "channel_launch.py"]
             )
-        ),
-        launch_arguments=[("log_level", log_level)],
+        )
     )
-    return LaunchDescription([log_level_arg, GroupAction([channel], forwarding=False)])
+    nodes = GroupAction(
+        actions=[channel],
+        forwarding=False,
+        launch_configurations={"log_level":log_level},
+    )
+    return LaunchDescription([log_level_arg, nodes])