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feat: allow remapping of can_fd topics via launch file #52

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merged 2 commits into from
Dec 4, 2024
Merged

feat: allow remapping of can_fd topics via launch file #52

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80c670f
Allow remapping of can_fd topics via launch file
FranzAlbers Jul 30, 2024
0484da3
remove trailing whitespaces
xmfcx Dec 4, 2024
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10 changes: 7 additions & 3 deletions ros2_socketcan/launch/socket_can_receiver.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, EmitEvent,
RegisterEventHandler)
from launch.conditions import IfCondition
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessStart
from launch.events import matches_action
from launch.substitutions import LaunchConfiguration, TextSubstitution
Expand All @@ -42,7 +42,8 @@ def generate_launch_description():
'filters': LaunchConfiguration('filters'),
'use_bus_time': LaunchConfiguration('use_bus_time'),
}],
remappings=[('from_can_bus', LaunchConfiguration('from_can_bus_topic'))],
remappings=[('from_can_bus', LaunchConfiguration('from_can_bus_topic')),
('from_can_bus_fd', LaunchConfiguration('from_can_bus_topic'))],
output='screen')

socket_can_receiver_configure_event_handler = RegisterEventHandler(
Expand Down Expand Up @@ -107,7 +108,10 @@ def generate_launch_description():
'man1/candump.1.html'),
DeclareLaunchArgument('auto_configure', default_value='true'),
DeclareLaunchArgument('auto_activate', default_value='true'),
DeclareLaunchArgument('from_can_bus_topic', default_value='from_can_bus'),
DeclareLaunchArgument('from_can_bus_topic', default_value='from_can_bus_fd',
condition=IfCondition(LaunchConfiguration('enable_can_fd'))),
DeclareLaunchArgument('from_can_bus_topic', default_value='from_can_bus',
condition=UnlessCondition(LaunchConfiguration('enable_can_fd'))),
socket_can_receiver_node,
socket_can_receiver_configure_event_handler,
socket_can_receiver_activate_event_handler,
Expand Down
10 changes: 7 additions & 3 deletions ros2_socketcan/launch/socket_can_sender.launch.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, EmitEvent,
RegisterEventHandler)
from launch.conditions import IfCondition
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessStart
from launch.events import matches_action
from launch.substitutions import LaunchConfiguration, TextSubstitution
Expand All @@ -40,7 +40,8 @@ def generate_launch_description():
'timeout_sec':
LaunchConfiguration('timeout_sec'),
}],
remappings=[('to_can_bus', LaunchConfiguration('to_can_bus_topic'))],
remappings=[('to_can_bus', LaunchConfiguration('to_can_bus_topic')),
('to_can_bus_fd', LaunchConfiguration('to_can_bus_topic'))],
output='screen')

socket_can_sender_configure_event_handler = RegisterEventHandler(
Expand Down Expand Up @@ -81,7 +82,10 @@ def generate_launch_description():
DeclareLaunchArgument('timeout_sec', default_value='0.01'),
DeclareLaunchArgument('auto_configure', default_value='true'),
DeclareLaunchArgument('auto_activate', default_value='true'),
DeclareLaunchArgument('to_can_bus_topic', default_value='to_can_bus'),
DeclareLaunchArgument('to_can_bus_topic', default_value='to_can_bus_fd',
condition=IfCondition(LaunchConfiguration('enable_can_fd'))),
DeclareLaunchArgument('to_can_bus_topic', default_value='to_can_bus',
condition=UnlessCondition(LaunchConfiguration('enable_can_fd'))),
socket_can_sender_node,
socket_can_sender_configure_event_handler,
socket_can_sender_activate_event_handler,
Expand Down
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