latest pushes

ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py

@@ -0,0 +1,57 @@
+import os
+import sys
+import subprocess
+
+
+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_step", "bellande_step_api_2d.launch"] + args
+
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    # Declare launch arguments
+    x1_arg = DeclareLaunchArgument('x1')
+    y1_arg = DeclareLaunchArgument('y1')
+    x2_arg = DeclareLaunchArgument('x2')
+    y2_arg = DeclareLaunchArgument('y2')
+    limit_arg = DeclareLaunchArgument('limit')
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [
+        x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
+    ]
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_step',
+        executable='bellande_step_api_2d.py',
+        name='bellande_step_api_2d_node',
+        output='screen',
+        parameters=[
+            {'x1': LaunchConfiguration('x1')},
+            {'y1': LaunchConfiguration('y1')},
+            {'x2': LaunchConfiguration('x2')},
+            {'y2': LaunchConfiguration('y2')},
+            {'limit': LaunchConfiguration('limit')},
+        ],
+    ))
+
+    # 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)