✨ add launchfile for suave_extended

launch/suave_rosa_extended.launch.py

@@ -0,0 +1,80 @@
+# Copyright 2023 Gustavo Rezende Silva
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_rosa_kb = get_package_share_directory(
+        'rosa_kb')
+
+    pkg_rosa_bringup = get_package_share_directory(
+        'rosa_bringup')
+    rosa_bringup_launch_path = os.path.join(
+        pkg_rosa_bringup,
+        'launch',
+        'rosa_bringup.launch.py')
+
+    pkg_suave_path = get_package_share_directory(
+        'suave')
+    suave_launch_path = os.path.join(
+        pkg_suave_path,
+        'launch',
+        'suave.launch.py')
+
+    pkg_suave_rosa = get_package_share_directory(
+        'suave_rosa')
+
+    schema_path = "[{0}, {1}]".format(
+        os.path.join(pkg_rosa_kb, 'config', 'schema.tql'),
+        os.path.join(pkg_rosa_kb, 'config', 'ros_schema.tql'))
+
+    data_path = "[{0}, {1}]".format(
+        os.path.join(pkg_suave_rosa, 'config', 'suave.tql'),
+        os.path.join(pkg_suave_rosa, 'config', 'suave_extended.tql')
+    )
+
+    rosa_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(rosa_bringup_launch_path),
+        launch_arguments={
+            'schema_path': schema_path,
+            'data_path': data_path,
+            'database_name': 'suave_db_extended',
+            'force_data': 'True',
+            'force_database': 'True',
+        }.items()
+    )
+
+    suave_rosa_bt_node = Node(
+        package='suave_rosa',
+        executable='suave_rosa_extended',
+    )
+
+    suave_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(suave_launch_path),
+        launch_arguments={
+            'task_bridge': 'False'}.items()
+    )
+
+    return LaunchDescription([
+        rosa_bringup,
+        suave_rosa_bt_node,
+        suave_launch
+    ])