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add mock hardware components and namespace
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| import os | ||
|
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| from ament_index_python.packages import get_package_share_directory | ||
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| from launch import LaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.actions import IncludeLaunchDescription, OpaqueFunction, DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch.conditions import IfCondition | ||
| from launch_ros.actions import Node | ||
| import xacro | ||
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| def launch_setup(context, *args, **kwargs): | ||
| rae_description_path = os.path.join(get_package_share_directory( | ||
| 'rae_description'), 'urdf', 'rae.urdf.xacro') | ||
| return [ | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(get_package_share_directory('rae_description'), 'launch', 'rsp.launch.py')), | ||
| launch_arguments={'sim': 'false', | ||
| 'namespace': LaunchConfiguration('namespace'), | ||
| }.items() | ||
| ), | ||
| Node( | ||
| package='rae_hw', | ||
| executable='mock_wheels.py', | ||
| name='mock_wheels', | ||
| namespace=LaunchConfiguration('namespace') | ||
| ), | ||
| Node( | ||
| package='rae_hw', | ||
| executable='mock_leds.py', | ||
| name='mock_leds', | ||
| namespace=LaunchConfiguration('namespace') | ||
| ), | ||
| Node( | ||
| package='rae_hw', | ||
| executable='mock_battery.py', | ||
| name='mock_battery', | ||
| namespace=LaunchConfiguration('namespace') | ||
| ), | ||
| Node( | ||
| package='rae_hw', | ||
| executable='mock_lcd.py', | ||
| name='mock_lcd', | ||
| namespace=LaunchConfiguration('namespace') | ||
| ), | ||
| Node( | ||
| package='rae_hw', | ||
| executable='mock_speakers.py', | ||
| name='mock_speakers', | ||
| namespace=LaunchConfiguration('namespace') | ||
| ), | ||
| Node( | ||
| package='rae_hw', | ||
| executable='mock_mic.py', | ||
| name='mock_mic', | ||
| namespace=LaunchConfiguration('namespace') | ||
| ) | ||
| ] | ||
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| def generate_launch_description(): | ||
| declared_arguments = [ | ||
| DeclareLaunchArgument('name', default_value='rae'), | ||
| DeclareLaunchArgument('namespace', default_value=''), | ||
| DeclareLaunchArgument('run_container', default_value='true'), | ||
| DeclareLaunchArgument('enable_battery_status', default_value='true'), | ||
| DeclareLaunchArgument('enable_localization', default_value='true'), | ||
| DeclareLaunchArgument('controller_params_file', default_value=os.path.join(get_package_share_directory( | ||
| 'rae_hw'), 'config', 'controller.yaml')), | ||
| ] | ||
|
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| return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| #!/usr/bin/env python3 | ||
| import rclpy | ||
| from rclpy.node import Node | ||
|
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| from sensor_msgs.msg import BatteryState | ||
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| class MockBattery(Node): | ||
| def __init__(self): | ||
| super().__init__('mock_battery') | ||
| self._battery_pub = self.create_publisher(BatteryState, 'battery', 10) | ||
| self.timer = self.create_timer(1, self.timer_callback) | ||
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| def timer_callback(self): | ||
| msg = BatteryState() | ||
| self._battery_pub.publish(msg) | ||
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| if __name__ == '__main__': | ||
| rclpy.init() | ||
| mock_battery = MockBattery() | ||
| rclpy.spin(mock_battery) | ||
| mock_battery.destroy_node() | ||
| rclpy.shutdown() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| #!/usr/bin/env python3 | ||
| import rclpy | ||
| from rclpy.node import Node | ||
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| from sensor_msgs.msg import Image | ||
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| class MockLCD(Node): | ||
| def __init__(self): | ||
| super().__init__('mock_display') | ||
| self._image_sub = self.create_subscription(Image, 'lcd', self.image_callback, 10) | ||
| def image_callback(self, msg: Image): | ||
| self.get_logger().info(f'I heard: {msg.width}, {msg.height}') | ||
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| if __name__ == '__main__': | ||
| rclpy.init() | ||
| mock_lcd = MockLCD() | ||
| rclpy.spin(mock_lcd) | ||
| mock_lcd.destroy_node() | ||
| rclpy.shutdown() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| #!/usr/bin/env python3 | ||
| import rclpy | ||
| from rclpy.node import Node | ||
|
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| from rae_msgs.msg import LEDControl | ||
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| class MockLeds(Node): | ||
| def __init__(self): | ||
| super().__init__('mock_leds') | ||
| self._led_sub = self.create_subscription(LEDControl, 'leds', self.led_callback, 10) | ||
| def led_callback(self, msg: LEDControl): | ||
| self.get_logger().info('I heard: "%s"' % msg.data) | ||
|
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| if __name__ == '__main__': | ||
| rclpy.init() | ||
| mock_leds = MockLeds() | ||
| rclpy.spin(mock_leds) | ||
| mock_leds.destroy_node() | ||
| rclpy.shutdown() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| #!/usr/bin/env python3 | ||
| import rclpy | ||
| from rclpy.node import Node | ||
| from audio_msgs.msg import Audio | ||
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| class MockMic(Node): | ||
| def __init__(self): | ||
| super().__init__('mock_mic') | ||
| self._audio_pub = self.create_publisher(Audio, 'audio_in', 10) | ||
| self.timer = self.create_timer(1, self.timer_callback) | ||
|
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| def timer_callback(self): | ||
| msg = Audio() | ||
| self._audio_pub.publish(msg) | ||
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| if __name__ == '__main__': | ||
| rclpy.init() | ||
| mock_mic = MockMic() | ||
| rclpy.spin(mock_mic) | ||
| mock_mic.destroy_node() | ||
| rclpy.shutdown() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| #!/usr/bin/env python3 | ||
| import rclpy | ||
| from rclpy.node import Node | ||
|
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| from audio_msgs.msg import Audio | ||
| from rae_msgs.srv import PlayAudio | ||
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| class MockSpeakers(Node): | ||
| def __init__(self): | ||
| super().__init__('mock_speakers') | ||
| self._audio_sub = self.create_subscription( | ||
| Audio, 'audio_out', self.audio_callback, 10) | ||
| self._play_service = self.create_service( | ||
| PlayAudio, 'play_audio', self.play_callback) | ||
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| def audio_callback(self, msg: Audio): | ||
| self.get_logger().info('I heard: "%s"' % msg.data) | ||
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| def play_callback(self, request: PlayAudio.Request, response): | ||
| self.get_logger().info('I heard: "%s"' % request.mp3_file) | ||
| return response | ||
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| if __name__ == '__main__': | ||
| rclpy.init() | ||
| mock_speakers = MockSpeakers() | ||
| rclpy.spin(mock_speakers) | ||
| mock_speakers.destroy_node() | ||
| rclpy.shutdown() |
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