Add interrupt

ros2_environment/src/rbs_servo_test/launch/startup.launch.py

@@ -1,120 +1,120 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, RegisterEventHandler, OpaqueFunction
-from launch.conditions import IfCondition
-from launch.event_handlers import OnProcessExit
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
-
-from launch_ros.actions import Node, node
-from launch_ros.substitutions import FindPackageShare
-
-
-def launch_setup(context, *args, **kwargs):
-    # Initialize Arguments
-    robot_controller = LaunchConfiguration("robot_controller")
-    gui = LaunchConfiguration("gui")
-    filepath = PathJoinSubstitution(
-        [
-            FindPackageShare("rbs_servo_test"),
-            "urdf",
-            "simple_robot.urdf"
-        ]
-    ).perform(context)
-
-    with open(filepath, "r") as file:
-        robot_description_content = file.read()
-
-    robot_description = {"robot_description": robot_description_content}
-
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare("rbs_servo_test"),
-            "config",
-            "ros2_controllers.yaml",
-        ]
-    )
-    rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("rbs_servo_test"), "config", "driver.rviz"]
-    )
-
-    control_node = Node(
-        package="controller_manager",
-        # prefix=['gdbserver localhost:1234'],
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output="both",
-    )
-    robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-    )
-    rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="log",
-        # arguments=["-d", rviz_config_file],
-        condition=IfCondition(gui),
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
-    )
-
-    # Delay rviz start after `joint_state_broadcaster`
-    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=joint_state_broadcaster_spawner,
-            on_exit=[rviz_node],
-        )
-    )
-
-    # Delay start of robot_controller after `joint_state_broadcaster`
-    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=joint_state_broadcaster_spawner,
-            on_exit=[robot_controller_spawner],
-        )
-    )
-
-    nodes = [
-        control_node,
-        robot_state_pub_node,
-        joint_state_broadcaster_spawner,
-        delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
-    ]
-    return nodes
-
-
-def generate_launch_description():
-    # Declare arguments
-    declared_arguments = []
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "gui",
-            default_value="false",
-            description="Start RViz2 automatically with this launch file.",
-        )
-    
-    )
-
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "robot_controller",
-            default_value="forward_position_controller",
-            description=".......",
-        )
-    )
-
-
-    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler, OpaqueFunction
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node, node
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    # Initialize Arguments
+    robot_controller = LaunchConfiguration("robot_controller")
+    gui = LaunchConfiguration("gui")
+    filepath = PathJoinSubstitution(
+        [
+            FindPackageShare("rbs_servo_test"),
+            "urdf",
+            "simple_robot.urdf"
+        ]
+    ).perform(context)
+
+    with open(filepath, "r") as file:
+        robot_description_content = file.read()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("rbs_servo_test"),
+            "config",
+            "ros2_controllers.yaml",
+        ]
+    )
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare("rbs_servo_test"), "config", "driver.rviz"]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        # prefix=['gdbserver localhost:1234'],
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        # arguments=["-d", rviz_config_file],
+        condition=IfCondition(gui),
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[robot_controller, "--controller-manager", "/controller_manager"],
+    )
+
+    # Delay rviz start after `joint_state_broadcaster`
+    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[rviz_node],
+        )
+    )
+
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
+        )
+    )
+
+    nodes = [
+        control_node,
+        robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+    ]
+    return nodes
+
+
+def generate_launch_description():
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "gui",
+            default_value="false",
+            description="Start RViz2 automatically with this launch file.",
+        )
+    
+    )
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_controller",
+            default_value="forward_position_controller",
+            description=".......",
+        )
+    )
+
+
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])