src/tools/joystick_vehicle_interface_nodes/launch/lgsvl_joystick.launch.py
def generate_launch_description():
    """
    Launch a minimal joystick + LGSVL demo.

    Under the default configuration, the joystick
    translator outputs and the LGSVL interface expects RawControlCommand. Controlling the vehicle
    can happen via the gamepad triggers and left joystick.
    """
    # --------------------------------- Params -------------------------------

    # Default joystick translator params
    joy_translator_param = DeclareLaunchArgument(
        'joy_translator_param',
        default_value=[
            get_share_file('joystick_vehicle_interface_nodes',
                           'param/logitech_f310.default.param.yaml')
        ],
        description='Path to config file for joystick translator')

    # Default lgsvl_interface params
    lgsvl_interface_param = DeclareLaunchArgument(
        'lgsvl_interface_param',
        default_value=[
            get_share_file('lgsvl_interface', 'param/lgsvl.param.yaml')
        ],
        description='Path to config file for lgsvl interface')

    # -------------------------------- Nodes-----------------------------------

    # Include Joystick launch
    joystick_launch_file_path = get_share_file('joystick_vehicle_interface_nodes',
                                               'launch/joystick_vehicle_interface_node.launch.py')
    joystick = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(joystick_launch_file_path),
        launch_arguments=[
            (
                "joy_translator_param",
                LaunchConfiguration("joy_translator_param")
            )
        ]
    )

    # Include LGSVL interface launch
    lgsvl_launch_file_path = get_share_file('lgsvl_interface',
                                            'launch/lgsvl.launch.py')
    lgsvl = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(lgsvl_launch_file_path),
        launch_arguments=[
            (
                "lgsvl_interface_param",
                LaunchConfiguration("lgsvl_interface_param")
            )
        ]
    )

    return LaunchDescription([
      joy_translator_param,
      lgsvl_interface_param,
      joystick,
      lgsvl
    ])

    Launch a minimal joystick + LGSVL demo.

    Under the default configuration, the joystick
    translator outputs and the LGSVL interface expects RawControlCommand. Controlling the vehicle
    can happen via the gamepad triggers and left joystick.
    
Launch a minimal joystick + LGSVL demo.
Under the default configuration, the joystick
translator outputs and the LGSVL interface expects RawControlCommand. Controlling the vehicle
can happen via the gamepad triggers and left joystick.
Launch a minimal joystick + LGSVL demo . Under the default configuration the joystick translator outputs and the LGSVL interface expects RawControlCommand . Controlling the vehicle can happen via the gamepad triggers and left joystick .
def generate_launch_description():
    joy_translator_param = DeclareLaunchArgument(
        'joy_translator_param',
        default_value=[
            get_share_file('joystick_vehicle_interface_nodes',
                           'param/logitech_f310.default.param.yaml')
        ],
        description='Path to config file for joystick translator')
    lgsvl_interface_param = DeclareLaunchArgument(
        'lgsvl_interface_param',
        default_value=[
            get_share_file('lgsvl_interface', 'param/lgsvl.param.yaml')
        ],
        description='Path to config file for lgsvl interface')
    joystick_launch_file_path = get_share_file('joystick_vehicle_interface_nodes',
                                               'launch/joystick_vehicle_interface_node.launch.py')
    joystick = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(joystick_launch_file_path),
        launch_arguments=[
            (
                "joy_translator_param",
                LaunchConfiguration("joy_translator_param")
            )
        ]
    )
    lgsvl_launch_file_path = get_share_file('lgsvl_interface',
                                            'launch/lgsvl.launch.py')
    lgsvl = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(lgsvl_launch_file_path),
        launch_arguments=[
            (
                "lgsvl_interface_param",
                LaunchConfiguration("lgsvl_interface_param")
            )
        ]
    )
    return LaunchDescription([
      joy_translator_param,
      lgsvl_interface_param,
      joystick,
      lgsvl
    ])
def generate_launch_description ( ) : joy_translator_param = DeclareLaunchArgument ( 'joy_translator_param' , default_value = [ get_share_file ( 'joystick_vehicle_interface_nodes' , 'param/logitech_f310.default.param.yaml' ) ] , description = 'Path to config file for joystick translator' ) lgsvl_interface_param = DeclareLaunchArgument ( 'lgsvl_interface_param' , default_value = [ get_share_file ( 'lgsvl_interface' , 'param/lgsvl.param.yaml' ) ] , description = 'Path to config file for lgsvl interface' ) joystick_launch_file_path = get_share_file ( 'joystick_vehicle_interface_nodes' , 'launch/joystick_vehicle_interface_node.launch.py' ) joystick = IncludeLaunchDescription ( PythonLaunchDescriptionSource ( joystick_launch_file_path ) , launch_arguments = [ ( "joy_translator_param" , LaunchConfiguration ( "joy_translator_param" ) ) ] ) lgsvl_launch_file_path = get_share_file ( 'lgsvl_interface' , 'launch/lgsvl.launch.py' ) lgsvl = IncludeLaunchDescription ( PythonLaunchDescriptionSource ( lgsvl_launch_file_path ) , launch_arguments = [ ( "lgsvl_interface_param" , LaunchConfiguration ( "lgsvl_interface_param" ) ) ] ) return LaunchDescription ( [ joy_translator_param , lgsvl_interface_param , joystick , lgsvl ] )
Launch a minimal joystick + LGSVL demo.
Launch a minimal joystick + LGSVL demo .
"""
    Launch a minimal joystick + LGSVL demo.

    Under the default configuration, the joystick
    translator outputs and the LGSVL interface expects RawControlCommand. Controlling the vehicle
    can happen via the gamepad triggers and left joystick.
    """ # --------------------------------- Params ------------------------------- # Default joystick translator params # Default lgsvl_interface params # -------------------------------- Nodes----------------------------------- # Include Joystick launch # Include LGSVL interface launch