src/drivers/vesc_interface/launch/vesc_interface.launch.py
def generate_launch_description():
    """
    Generate Launch Description.

    Launch VESC_driver node and VESC_interface node for interfacing
    Autoware.Auto with F1TENTH car.
    """
    # Launch VESC_driver node
    vesc_driver = Node(
        package='vesc_driver',
        executable='vesc_driver_node',
        namespace='vehicle',
        output='screen',
        parameters=[get_share_file('vesc_driver', 'params/vesc_config.yaml')]
    )

    # Launch VESC_interface'
    # Default VESC_interface params
    vesc_interface_params = DeclareLaunchArgument(
        'vesc_interface_param',
        default_value=[
            get_share_file('vesc_interface', 'param/vesc_config.param.yaml')
        ],
        description="Path to config file for vesc interface"
    )

    vesc_interface = Node(
        package='vesc_interface',
        executable='vesc_interface_node_exe',
        namespace='vehicle',
        output='screen',
        parameters=[
            LaunchConfiguration('vesc_interface_param')
        ]
    )

    return LaunchDescription([
        vesc_driver,
        vesc_interface_params,
        vesc_interface
    ])

    Generate Launch Description.

    Launch VESC_driver node and VESC_interface node for interfacing
    Autoware.Auto with F1TENTH car.
    
Generate Launch Description.
Launch VESC_driver node and VESC_interface node for interfacing
Autoware.Auto with F1TENTH car.
Generate Launch Description . Launch VESC_driver node and VESC_interface node for interfacing Autoware . Auto with F1TENTH car .
def generate_launch_description():
    vesc_driver = Node(
        package='vesc_driver',
        executable='vesc_driver_node',
        namespace='vehicle',
        output='screen',
        parameters=[get_share_file('vesc_driver', 'params/vesc_config.yaml')]
    )
    vesc_interface_params = DeclareLaunchArgument(
        'vesc_interface_param',
        default_value=[
            get_share_file('vesc_interface', 'param/vesc_config.param.yaml')
        ],
        description="Path to config file for vesc interface"
    )
    vesc_interface = Node(
        package='vesc_interface',
        executable='vesc_interface_node_exe',
        namespace='vehicle',
        output='screen',
        parameters=[
            LaunchConfiguration('vesc_interface_param')
        ]
    )
    return LaunchDescription([
        vesc_driver,
        vesc_interface_params,
        vesc_interface
    ])
def generate_launch_description ( ) : vesc_driver = Node ( package = 'vesc_driver' , executable = 'vesc_driver_node' , namespace = 'vehicle' , output = 'screen' , parameters = [ get_share_file ( 'vesc_driver' , 'params/vesc_config.yaml' ) ] ) vesc_interface_params = DeclareLaunchArgument ( 'vesc_interface_param' , default_value = [ get_share_file ( 'vesc_interface' , 'param/vesc_config.param.yaml' ) ] , description = "Path to config file for vesc interface" ) vesc_interface = Node ( package = 'vesc_interface' , executable = 'vesc_interface_node_exe' , namespace = 'vehicle' , output = 'screen' , parameters = [ LaunchConfiguration ( 'vesc_interface_param' ) ] ) return LaunchDescription ( [ vesc_driver , vesc_interface_params , vesc_interface ] )
Generate Launch Description.
Generate Launch Description .
"""
    Generate Launch Description.

    Launch VESC_driver node and VESC_interface node for interfacing
    Autoware.Auto with F1TENTH car.
    """ # Launch VESC_driver node # Launch VESC_interface' # Default VESC_interface params