src/drivers/ssc_interface/launch/ssc_interface.launch.py
def generate_launch_description():
    """
    Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2/Autoware.Auto.

    The SSC interface, which translates inputs and outputs to and from Autoware messages.
    """
    # --------------------------------- Params -------------------------------

    # In combination 'raw', 'basic' and 'high_level' control
    # in what mode of control comands to operate in,
    # only one of them can be active at a time with a value
    control_command_param = DeclareLaunchArgument(
        'control_command',
        default_value="basic",  # use "raw", "basic" or "high_level"
        description='command control mode')

    # Default ssc_interface params
    ssc_interface_param = DeclareLaunchArgument(
        'ssc_interface_param',
        default_value=[
            get_share_file('ssc_interface', 'param/defaults.param.yaml')
        ],
        description='Path to config file for SSC interface')

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

    # SSC interface
    ssc_interface = Node(
        package='ssc_interface',
        name='ssc_interface_node',
        executable='ssc_interface_node_exe',
        namespace='vehicle',
        output='screen',
        parameters=[LaunchConfiguration('ssc_interface_param')],
        remappings=[
            ('gear_select', '/ssc/gear_select'),
            ('arbitrated_speed_commands', '/ssc/arbitrated_speed_commands'),
            ('arbitrated_steering_commands', '/ssc/arbitrated_steering_commands'),
            ('turn_signal_command', '/ssc/turn_signal_command'),
            ('dbw_enabled_feedback', '/ssc/dbw_enabled_fedback'),
            ('gear_feedback', '/ssc/gear_feedback'),
            ('velocity_accel_cov', '/ssc/velocity_accel_cov'),
            ('steering_feedback', '/ssc/steering_feedback'),
            ('vehicle_kinematic_state_cog', '/vehicle/vehicle_kinematic_state'),
            ('state_report_out', '/vehicle/vehicle_state_report'),
            ('state_command', '/vehicle/vehicle_state_command')
        ]
    )

    ld = LaunchDescription([
        control_command_param,
        ssc_interface_param,
        ssc_interface
    ])
    return ld

    Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2/Autoware.Auto.

    The SSC interface, which translates inputs and outputs to and from Autoware messages.
    
Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2/Autoware.Auto.
The SSC interface, which translates inputs and outputs to and from Autoware messages.
Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2 / Autoware . Auto . The SSC interface which translates inputs and outputs to and from Autoware messages .
def generate_launch_description():
    control_command_param = DeclareLaunchArgument(
        'control_command',
        default_value="basic",  
        description='command control mode')
    ssc_interface_param = DeclareLaunchArgument(
        'ssc_interface_param',
        default_value=[
            get_share_file('ssc_interface', 'param/defaults.param.yaml')
        ],
        description='Path to config file for SSC interface')
    ssc_interface = Node(
        package='ssc_interface',
        name='ssc_interface_node',
        executable='ssc_interface_node_exe',
        namespace='vehicle',
        output='screen',
        parameters=[LaunchConfiguration('ssc_interface_param')],
        remappings=[
            ('gear_select', '/ssc/gear_select'),
            ('arbitrated_speed_commands', '/ssc/arbitrated_speed_commands'),
            ('arbitrated_steering_commands', '/ssc/arbitrated_steering_commands'),
            ('turn_signal_command', '/ssc/turn_signal_command'),
            ('dbw_enabled_feedback', '/ssc/dbw_enabled_fedback'),
            ('gear_feedback', '/ssc/gear_feedback'),
            ('velocity_accel_cov', '/ssc/velocity_accel_cov'),
            ('steering_feedback', '/ssc/steering_feedback'),
            ('vehicle_kinematic_state_cog', '/vehicle/vehicle_kinematic_state'),
            ('state_report_out', '/vehicle/vehicle_state_report'),
            ('state_command', '/vehicle/vehicle_state_command')
        ]
    )
    ld = LaunchDescription([
        control_command_param,
        ssc_interface_param,
        ssc_interface
    ])
    return ld
def generate_launch_description ( ) : control_command_param = DeclareLaunchArgument ( 'control_command' , default_value = "basic" , description = 'command control mode' ) ssc_interface_param = DeclareLaunchArgument ( 'ssc_interface_param' , default_value = [ get_share_file ( 'ssc_interface' , 'param/defaults.param.yaml' ) ] , description = 'Path to config file for SSC interface' ) ssc_interface = Node ( package = 'ssc_interface' , name = 'ssc_interface_node' , executable = 'ssc_interface_node_exe' , namespace = 'vehicle' , output = 'screen' , parameters = [ LaunchConfiguration ( 'ssc_interface_param' ) ] , remappings = [ ( 'gear_select' , '/ssc/gear_select' ) , ( 'arbitrated_speed_commands' , '/ssc/arbitrated_speed_commands' ) , ( 'arbitrated_steering_commands' , '/ssc/arbitrated_steering_commands' ) , ( 'turn_signal_command' , '/ssc/turn_signal_command' ) , ( 'dbw_enabled_feedback' , '/ssc/dbw_enabled_fedback' ) , ( 'gear_feedback' , '/ssc/gear_feedback' ) , ( 'velocity_accel_cov' , '/ssc/velocity_accel_cov' ) , ( 'steering_feedback' , '/ssc/steering_feedback' ) , ( 'vehicle_kinematic_state_cog' , '/vehicle/vehicle_kinematic_state' ) , ( 'state_report_out' , '/vehicle/vehicle_state_report' ) , ( 'state_command' , '/vehicle/vehicle_state_command' ) ] ) ld = LaunchDescription ( [ control_command_param , ssc_interface_param , ssc_interface ] ) return ld
Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2/Autoware.Auto.
Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2 / Autoware . Auto .
"""
    Launch necessary dependencies for working with AutonomouStuff SSC and ROS 2/Autoware.Auto.

    The SSC interface, which translates inputs and outputs to and from Autoware messages.
    """ # --------------------------------- Params ------------------------------- # In combination 'raw', 'basic' and 'high_level' control # in what mode of control comands to operate in, # only one of them can be active at a time with a value # use "raw", "basic" or "high_level" # Default ssc_interface params # -------------------------------- Nodes----------------------------------- # SSC interface