Create a separate launch script for emitting lifecycle.

Temporary workaround for ros2/launch_ros#41
knatsuki · May 29, 2020 · ba04faa · ba04faa
1 parent bd0cf7a
commit ba04faa
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Showing 2 changed files with 24 additions and 1 deletion.
diff --git a/wiimote/launch/wiimote.launch.py → wiimote/launch/wiimote_composition.launch.py b/wiimote/launch/wiimote.launch.py → wiimote/launch/wiimote_composition.launch.py
@@ -1,5 +1,6 @@
 import launch
 import launch_ros
+import lifecycle_msgs.msg
 
 
 def generate_launch_description():
@@ -14,8 +15,10 @@ def generate_launch_description():
             launch_ros.descriptions.ComposableNode(
                 package='wiimote',
                 node_plugin='WiimoteNode',
-                node_name='wiimote'
+                node_name='wiimote',
+                node_namespace=''
             )
         ]
     )
+
     return launch.LaunchDescription([set_tty_launch_config_action, container])
diff --git a/wiimote/launch/wiimote_lifecycle.launch.py b/wiimote/launch/wiimote_lifecycle.launch.py
@@ -0,0 +1,20 @@
+import launch
+import launch_ros
+import lifecycle_msgs.msg
+
+
+def generate_launch_description():
+    set_tty_launch_config_action = launch.actions.SetLaunchConfiguration("emulate_tty", "true")
+    wiimote_node = launch_ros.actions.LifecycleNode(
+        package='wiimote',
+        node_executable='wiimote_node',
+        node_namespace='',
+        node_name='wiimote',
+        output='screen',
+        arguments=['__log_level:=debug']
+    )
+    configure_trans_event = launch.actions.EmitEvent(event=launch_ros.events.lifecycle.ChangeState(
+        lifecycle_node_matcher=launch_ros.events.lifecycle.matches_node_name('/wiimote'),
+        transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE
+    ))
+    return launch.LaunchDescription([set_tty_launch_config_action, wiimote_node, configure_trans_event])