33 lines
1.5 KiB
Python
Executable File
33 lines
1.5 KiB
Python
Executable File
"""perception_manager 공통 진입점 (통합 perception 모듈).
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LocalLauncher buildPerceptionArg 가 모든 모델 pkg 에 동일한 계약으로
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`ros2 launch perception_lmnet_pkg perception.launch.py robot:=.. use_sim_time:=.. model_source:=..`
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를 스폰하므로(perception_pkg/launch_spec.py), 모델 launch(lmnet.launch.py)로 위임한다.
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robot 은 공통 계약상 선언만 하고, 모델 launch 가 선언한 경우에만 소비된다.
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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share = get_package_share_directory('perception_lmnet_pkg')
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return LaunchDescription([
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DeclareLaunchArgument('robot', default_value='fr09'),
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DeclareLaunchArgument('use_sim_time', default_value='true'),
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DeclareLaunchArgument('model_source', default_value='finetuned'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(share, 'launch', 'lmnet.launch.py')),
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launch_arguments={
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'robot': LaunchConfiguration('robot'),
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'use_sim_time': LaunchConfiguration('use_sim_time'),
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'model_source': LaunchConfiguration('model_source'),
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}.items(),
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),
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])
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