helper launch due to failure

Author: Cameron-Basara

src/arm_hardware_interface/launch/launch_arm_common.launch.py

@@ -0,0 +1,75 @@
+# Brings up everything the arm needs on board: the CAN loop, the arm hardware
+# nodes and the lighting translator.
+#
+#   ros2 launch arm_hardware_interface launch_arm_common.launch.py
+#
+# The CAN arguments are forwarded to generic_can_interface_bringup_on_board, ie
+#
+#   ros2 launch arm_hardware_interface launch_arm_common.launch.py \
+#       can_interface:=can1 bring_up_interface:=true
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_dir = os.path.join(
+        get_package_share_directory('arm_hardware_interface'), 'launch')
+
+    default_can_config = os.path.join(
+        get_package_share_directory('arm_hardware_interface'),
+        'config',
+        'can_loop_on_board.yaml')
+
+    default_lighting_config = os.path.join(
+        get_package_share_directory('rover_lighting'),
+        'config',
+        'lighting_translator.yaml')
+
+    args = [
+        DeclareLaunchArgument(
+            'loop_name', default_value='main',
+            description="Topics are published under /can/<loop_name>/"),
+        DeclareLaunchArgument(
+            'can_interface', default_value='can0',
+            description='SocketCAN interface name, ie can0'),
+        DeclareLaunchArgument(
+            'config_file', default_value=default_can_config,
+            description="Path to the CAN loop's yaml config"),
+        DeclareLaunchArgument(
+            'bring_up_interface', default_value='false',
+            description='Run can_bringup.sh before starting the node. Needs passwordless sudo.'),
+        DeclareLaunchArgument(
+            'lighting_config', default_value=default_lighting_config,
+            description='Parameter file for the lighting translator'),
+    ]
+
+    can_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, 'generic_can_interface_bringup_on_board.launch.py')),
+        launch_arguments={
+            'loop_name': LaunchConfiguration('loop_name'),
+            'can_interface': LaunchConfiguration('can_interface'),
+            'config_file': LaunchConfiguration('config_file'),
+            'bring_up_interface': LaunchConfiguration('bring_up_interface'),
+        }.items(),
+    )
+
+    arm_hardware = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, 'arm_hardware_bringup.launch.py')))
+
+    lighting_translator = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, 'lighting_translator.launch.py')),
+        launch_arguments={
+            'config': LaunchConfiguration('lighting_config'),
+        }.items(),
+    )
+
+    return LaunchDescription(args + [can_bringup, arm_hardware, lighting_translator])