add launch file to test component

image_publisher/launch/image_publisher_component_file.launch.py

@@ -0,0 +1,73 @@
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+# This is basically the same as image_publsher_file.launch.py - but using the component
+def generate_launch_description():
+ filename = os.path.join(get_package_share_directory('image_publisher'), 'launch',
+ 'splash.png')
+ use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+ return LaunchDescription([
+
+ DeclareLaunchArgument(
+ 'use_sim_time',
+ default_value='false',
+ description='Use simulation clock if true'),
+
+ ComposableNodeContainer(
+ name='image_publisher_container',
+ namespace='',
+ package='rclcpp_components',
+ executable='component_container',
+ composable_node_descriptions=[
+ ComposableNode(
+ package='image_publisher',
+ plugin='image_publisher::ImagePublisher',
+ name='image_publisher',
+ parameters=[{'filename': filename,
+ 'use_sim_time': use_sim_time}],
+ remappings=[('image_raw', '/camera/image_raw'),
+ ('camera_info', '/camera/camera_info')],
+ )
+ ],
+ output='screen',
+ ),
+ ])