readme.md

capabilities2_launch_proxy

Provides an Action API proxy to the ros2 launch framework. Implements features that are only available in python since the launch API is not available in C++.

Contains the essential features to implement the ros1 capabilities package launch functionality in ros2.

Use in conjunction with capabilities2_server package, to provide a full capabilities server.

how it works

Implements three main functions:

Function	Description
launch	Run a launch file requested a runtime via a network request
shutdown	shutdown a launch file that has been started
events	send capability events during operation

The lifecylce of these functions are typically handled by the capabilities server but could be used for other things.

Use without capabilities2 server

The proxy provides an action called ~/launch. The goal is a file path to launch from. The feedback provides events about the launch status.

Add to a launch file

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        # create launch proxy node
        Node(
            package='capabilities2_launch_proxy',
            executable='capabilities_launch_proxy',
            name='capabilities_launch_proxy'
        )
    ])

Run standalone

ros2 run capabilities2_launch_proxy capabilities_launch_proxy