From 269f84ae44c5e2a01846de3e1cae708faf662ff3 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Wed, 13 Mar 2024 11:34:38 -0400 Subject: [PATCH] Add extra launch file to sensor service --- .../launch/generator.py | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py index f0d80c7..f75934b 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py +++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py @@ -152,7 +152,7 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: # Valence BMS self.bms_launch_file = None - if (self.clearpath_config.platform.battery.model in + if (self.clearpath_config.platform.battery.model in [BatteryConfig.VALENCE_U24_12XP, BatteryConfig.VALENCE_U27_12XP]): can_dev = 'can1' @@ -161,9 +161,9 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: launch_args = self.clearpath_config.platform.battery.launch_args if launch_args: - if 'can_device' in launch_args: + if 'can_device' in launch_args: can_dev = launch_args['can_device'] - if 'bms_id' in launch_args: + if 'bms_id' in launch_args: bms_id = launch_args['bms_id'] bms_launch_args = [ @@ -267,6 +267,16 @@ def generate_sensors(self) -> None: # Include sensor launch in top level sensors launch file sensors_service_launch_writer.add(sensor_launch.launch_file) + if self.clearpath_config.platform.launch: + extra_launch = LaunchFile( + name=(os.path.basename( + self.clearpath_config.platform.extras.launch['path'] + )).split('.')[0], + path=os.path.dirname(self.clearpath_config.platform.extras.launch['path']), + package=Package(self.clearpath_config.platform.extras.launch['package']), + ) + sensors_service_launch_writer.add(extra_launch) + sensors_service_launch_writer.generate_file() def generate_platform(self) -> None: