launch_pal.arg_utils module

class launch_pal.arg_utils.CommonArgs(*, use_sim_time: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, namespace: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, navigation: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, moveit: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, world_name: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, is_public_sim: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, use_sensor_manager: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, tuck_arm: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, x: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, y: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, z: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, roll: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, pitch: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument, yaw: launch.actions.DeclareLaunchArgument = launch.actions.DeclareLaunchArgument)

Bases: object

This class contains a collection of frequently used LaunchArguments.

class launch_pal.arg_utils.LaunchArgumentsBase

Bases: object

This class is a dataclass containing only DeclareLaunchArgument objects.

add_to_launch_description(launch_description: launch.LaunchDescription)

Load a yaml configuration file given by the robot name.

Parameters

launch_descriptionLaunchDescription

The launch description that the Launch Arguments will be added to

launch_pal.arg_utils.read_launch_argument(arg_name, context)

Use in Opaque functions to read the value of a launch argument.

Parameters

arg_nameString

Name of the launch argument

contextLaunchContext

The launch context

Returns

valueString

The value of the launch argument