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Add status info
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rafal-gorecki committed Dec 5, 2024
1 parent c15d21b commit 24f19f0
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Showing 2 changed files with 15 additions and 46 deletions.
23 changes: 15 additions & 8 deletions rosbot_bringup/launch/bringup.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,12 @@
# limitations under the License.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
LogInfo,
TimerAction,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import (
Expand Down Expand Up @@ -57,12 +62,6 @@ def generate_launch_description():
}.items(),
)

healthcheck_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([rosbot_bringup, "launch", "healthcheck.launch.py"])
)
)

microros_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([rosbot_bringup, "launch", "microros.launch.py"])
Expand Down Expand Up @@ -98,14 +97,22 @@ def generate_launch_description():
namespace=namespace,
)

green_color = "\033[92m"
reset_color = "\033[0m"

status_info = TimerAction(
period=15.0,
actions=[LogInfo(msg=f"{green_color}All systems are up and running!{reset_color}")],
)

actions = [
declare_microros_arg,
declare_namespace_arg,
controller_launch,
healthcheck_launch,
microros_launch,
laser_filter_node,
robot_localization_node,
status_info,
]

return LaunchDescription(actions)
38 changes: 0 additions & 38 deletions rosbot_bringup/launch/healthcheck.launch.py

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