ai base

ros_web_api_bellande_ai_system/launch/bellande_ai_system_base.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", "ros_web_api_bellande_ai_system", "bellande_ai_system_base.launch"] + args
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+    # Declare launch arguments
+    config_file_arg = DeclareLaunchArgument(
+        'config_file',
+        default_value='$(find ros_web_api_bellande_ai_system)/config/configs.json',
+        description='Path to the AI system configuration file'
+    )
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [config_file_arg]
+
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_ai_system',
+        executable='bellande_ai_system_base.py',
+        name='bellande_ai_system_base_node',
+        output='screen',
+        parameters=[
+            {'config_file': LaunchConfiguration('config_file')},
+        ],
+    ))
+
+    # 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)

ros_web_api_bellande_ai_system/launch/ros1/bellande_ai_system_base.launch

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+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+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.
+-->
+<?xml version="1.0"?>
+<launch>
+  <!-- Load configuration file -->
+  <arg name="config_file" default="$(find ros_web_api_bellande_ai_system)/config/configs.json" />
+  <param name="ai_system_config" textfile="$(arg config_file)" />
+
+  <!-- Launch the AI System base node -->
+  <node name="bellande_ai_system_base_node" pkg="ros_web_api_bellande_ai_system"
+    type="bellande_ai_system_base.py" output="screen">
+    <param name="config_file" value="$(arg config_file)" />
+  </node>
+
+</launch>