launch_pal.include_utils module
- launch_pal.include_utils.get_nested_launch_configurations(configuration_list: Dict)
- launch_pal.include_utils.include_launch_py_description(pkg_name: launch.SomeSubstitutionsType, paths: List[launch.SomeSubstitutionsType], **kwargs) launch.Action
Return IncludeLaunchDescription for the file inside pkg at paths.
Example:
include_launch_py_description(‘my_pkg’, [‘launch’, ‘my_file.launch.py’]) returns file IncludeLaunchDescription from PATH_TO_MY_PKG_SHARE/launch/my_file.launch.py
- launch_pal.include_utils.include_scoped_launch_py_description(pkg_name: launch.SomeSubstitutionsType, paths: List[launch.SomeSubstitutionsType], launch_arguments: Dict = {}, env_vars: List[launch.actions.SetEnvironmentVariable] = [], condition: launch.Condition | None = None, **kwargs) launch.Action
Return a GroupAction for the launch file inside pkg at paths.
The launch file will be scoped and launch arguments or environment variables have to be explicitly passed on in this function.
Parameters
- pkg_name: str
Name of the package of the launch file
- paths: List[str]
Relative path to the launch file
- launch_arguments: Dict
Dictionary of arguments required for the launch file. The key is the name of the argument, the value can be a LaunchConfiguration, DeclareLaunchArgument or default type (int, str, float etc.). Remappings of argument names are also done here.
- env_vars: List[SetEnvironmentVariable]
Environment variables required for the launch file
- condition: Optional[Condition]
Conditionally include this launch file
- **kwargs:
Any other required function arguments
Returns
- scoped_launch_file: GroupAction
The launch file wrapped as a group action
Example:
include_scoped_launch_py_description(‘my_pkg’, [‘launch’, ‘my_file.launch.py’], launch_arguments= { ‘arg_a’: DeclareLaunchArgument(‘arg_a’),
‘arg_2’: DeclareLaunchArgument(‘arg_b’), ‘arg_c’: LaunchConfiguration(‘arg_c’), ‘arg_d’: “some_value’ }
env_vars= [SetEnvironmentVariable(“VAR_NAME”, ‘value)] condition=IfCondition(LaunchConfiguration(‘arg_a’)))