latest pushes

web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+def ros1_launch_description():
+    # Get command-line arguments
+    args = sys.argv[1:]
+    # Construct the ROS 1 launch command
+    roslaunch_command = ["roslaunch", "web_api_bellande_adaptive_continuious_controller", "bellande_controller.launch"] + args
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+    # Declare launch arguments
+    gains_arg = DeclareLaunchArgument('gains', default_value='[1.0, 0.1, 0.05]')
+    name_arg = DeclareLaunchArgument('name', default_value='BellandeController')
+    output_limits_arg = DeclareLaunchArgument('output_limits', default_value='[-1000.0, 1000.0]')
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [
+        gains_arg, name_arg, output_limits_arg,
+    ]
+
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_adaptive_continuious_controller',
+        executable='bellande_controller.py',
+        name='bellande_controller_node',
+        output='screen',
+        parameters=[
+            {'gains': LaunchConfiguration('gains')},
+            {'name': LaunchConfiguration('name')},
+            {'output_limits': LaunchConfiguration('output_limits')},
+        ],
+    ))
+
+    # Return the LaunchDescription containing all nodes and arguments
+    return LaunchDescription(ros_launch_arguments + nodes_to_launch)
+
+if __name__ == "__main__":
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        ros1_launch_description()
+    elif ros_version == "2":
+        ros2_launch_description()
+    else:
+        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+        sys.exit(1)

web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch

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+<?xml version="1.0"?>
+
+<!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+T
+is program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>. 
+    -->
+
+<launch>
+  <!-- Arguments -->
+  <arg name="gains" default="[1.0, 0.1, 0.05]"/>
+  <arg name="name" default="BellandeController"/>
+  <arg name="output_limits" default="[-1000.0, 1000.0]"/>
+
+  <!-- Launch the BellandeController node -->
+  <node name="bellande_controller_node" pkg="web_api_bellande_adaptive_continuious_controller" type="bellande_controller.py" output="screen">
+    <param name="gains" value="$(arg gains)"/>
+    <param name="name" value="$(arg name)"/>
+    <param name="output_limits" value="$(arg output_limits)"/>
+  </node>
+</launch>