src/tools/point_type_adapter/launch/point_type_adapter.launch.py
def generate_launch_description():
    """Generate launch description with a single component."""
    container_front = ComposableNodeContainer(
        name='point_type_adapter_container_front',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='point_type_adapter',
                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
                name='lgsvl_cloud_converter_node_front',
                remappings=[('/points_raw', '/lidar_front/points_raw'),
                            ('/points_xyzi', '/lidar_front/points_xyzi')], )
        ],
        output='screen',
    )
    container_rear = ComposableNodeContainer(
        name='point_type_adapter_container_rear',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='point_type_adapter',
                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
                name='lgsvl_cloud_converter_node_rear',
                remappings=[('/points_raw', '/lidar_rear/points_raw'),
                            ('/points_xyzi', '/lidar_rear/points_xyzi')], )
        ],
        output='screen',
    )

    return launch.LaunchDescription([container_front,
                                     container_rear])
Generate launch description with a single component.
Generate launch description with a single component.
Generate launch description with a single component .
def generate_launch_description():
    container_front = ComposableNodeContainer(
        name='point_type_adapter_container_front',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='point_type_adapter',
                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
                name='lgsvl_cloud_converter_node_front',
                remappings=[('/points_raw', '/lidar_front/points_raw'),
                            ('/points_xyzi', '/lidar_front/points_xyzi')], )
        ],
        output='screen',
    )
    container_rear = ComposableNodeContainer(
        name='point_type_adapter_container_rear',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='point_type_adapter',
                plugin='autoware::tools::point_type_adapter::PointTypeAdapterNode',
                name='lgsvl_cloud_converter_node_rear',
                remappings=[('/points_raw', '/lidar_rear/points_raw'),
                            ('/points_xyzi', '/lidar_rear/points_xyzi')], )
        ],
        output='screen',
    )
    return launch.LaunchDescription([container_front,
                                     container_rear])
def generate_launch_description ( ) : container_front = ComposableNodeContainer ( name = 'point_type_adapter_container_front' , namespace = '' , package = 'rclcpp_components' , executable = 'component_container' , composable_node_descriptions = [ ComposableNode ( package = 'point_type_adapter' , plugin = 'autoware::tools::point_type_adapter::PointTypeAdapterNode' , name = 'lgsvl_cloud_converter_node_front' , remappings = [ ( '/points_raw' , '/lidar_front/points_raw' ) , ( '/points_xyzi' , '/lidar_front/points_xyzi' ) ] , ) ] , output = 'screen' , ) container_rear = ComposableNodeContainer ( name = 'point_type_adapter_container_rear' , namespace = '' , package = 'rclcpp_components' , executable = 'component_container' , composable_node_descriptions = [ ComposableNode ( package = 'point_type_adapter' , plugin = 'autoware::tools::point_type_adapter::PointTypeAdapterNode' , name = 'lgsvl_cloud_converter_node_rear' , remappings = [ ( '/points_raw' , '/lidar_rear/points_raw' ) , ( '/points_xyzi' , '/lidar_rear/points_xyzi' ) ] , ) ] , output = 'screen' , ) return launch . LaunchDescription ( [ container_front , container_rear ] )
Generate launch description with a single component.
Generate launch description with a single component .
"""Generate launch description with a single component."""