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replace launch.xml with launch.py
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Signed-off-by: Tomohito Ando <[email protected]>
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@TomohitoAndo
TomohitoAndo committed Mar 26, 2024
1 parent 2999221 commit 722a4c0
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Showing 3 changed files with 312 additions and 202 deletions.
2 changes: 1 addition & 1 deletion aip_x2_launch/launch/sensing.launch.xml
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</include>

<!-- Topic state monitor for each sensor -->
<include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.xml"/>
<include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.py"/>

</group>

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311 changes: 311 additions & 0 deletions aip_x2_launch/launch/topic_state_monitor.launch.py
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from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

def generate_launch_description():
# GNSS topic monitor
gnss_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_gnss_pose",
parameters=[{
"topic": "/sensing/gnss/pose",
"topic_type": "geometry_msgs/msg/PoseStamped",
"best_effort": True,
"diag_name": "gnss_topic_status",
"warn_rate": 2.5,
"error_rate": 0.5,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

# IMU topic monitor
imu_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_imu_data",
parameters=[{
"topic": "/sensing/imu/imu_data",
"topic_type": "sensor_msgs/msg/Imu",
"best_effort": True,
"diag_name": "imu_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

# Radar topic monitors
radar_front_center_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_center",
parameters=[{
"topic": "/sensing/radar/front_center/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_center_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_front_left_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_left",
parameters=[{
"topic": "/sensing/radar/front_left/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_left_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_front_right_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_right",
parameters=[{
"topic": "/sensing/radar/front_right/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_right_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_center_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_center",
parameters=[{
"topic": "/sensing/radar/rear_center/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_center_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_left_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_left",
parameters=[{
"topic": "/sensing/radar/rear_left/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_left_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_right_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_right",
parameters=[{
"topic": "/sensing/radar/rear_right/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_right_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

# Camera topic monitors
camera0_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera0",
parameters=[{
"topic": "/sensing/camera/camera0/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera0_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera1_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera1",
parameters=[{
"topic": "/sensing/camera/camera1/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera1_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera2_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera2",
parameters=[{
"topic": "/sensing/camera/camera2/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera2_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera3_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera3",
parameters=[{
"topic": "/sensing/camera/camera3/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera3_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera4_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera4",
parameters=[{
"topic": "/sensing/camera/camera4/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera4_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera5_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera5",
parameters=[{
"topic": "/sensing/camera/camera5/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera5_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera6_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera6",
parameters=[{
"topic": "/sensing/camera/camera6/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera6_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera7_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera7",
parameters=[{
"topic": "/sensing/camera/camera7/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera7_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}],
extra_arguments=[{"use_intra_process_comms": True}],
)

# ComposableNodeContainer to run all ComposableNodes
container = ComposableNodeContainer(
name="topic_state_monitor_container",
namespace="topic_state_monitor",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
gnss_topic_monitor,
imu_topic_monitor,
radar_front_center_monitor,
radar_front_left_monitor,
radar_front_right_monitor,
radar_rear_center_monitor,
radar_rear_left_monitor,
radar_rear_right_monitor,
camera0_topic_monitor,
camera1_topic_monitor,
camera2_topic_monitor,
camera3_topic_monitor,
camera4_topic_monitor,
camera5_topic_monitor,
camera6_topic_monitor,
camera7_topic_monitor,
],
output="screen",
)

return LaunchDescription([
container
])
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