.. _LAUNCH_FILE_SETUP:

=================
Launch File Setup
=================

In order to properly evaluate competitors code, competitors will need to create a single ROS2 launch file that starts the competition, MoveIT if needed, and any competitor nodes. An example is shown below:

.. code-block:: python

    import os

    from ament_index_python.packages import get_package_share_directory

    from launch import LaunchDescription
    from launch_ros.actions import Node
    from launch.launch_description_sources import PythonLaunchDescriptionSource
    from launch.actions import IncludeLaunchDescription
    from launch_ros.substitutions import FindPackageShare
    from launch.substitutions import LaunchConfiguration

    from launch.actions import (
        DeclareLaunchArgument,
        OpaqueFunction,
    )

    from moveit_configs_utils import MoveItConfigsBuilder

    def launch_setup(context, *args, **kwargs):
        # Launch arguments
        trial_name = LaunchConfiguration("trial_name")
        record_state = LaunchConfiguration("record_state")

        urdf = os.path.join(get_package_share_directory("ariac_description"), "urdf/ariac_robots/ariac_robots.urdf.xacro")

        moveit_config = (
            MoveItConfigsBuilder("ariac_robots", package_name="ariac_moveit_config")
            .robot_description(urdf)
            .robot_description_semantic(file_path="config/ariac_robots.srdf")
            .trajectory_execution(file_path="config/moveit_controllers.yaml")
            .planning_pipelines(pipelines=["ompl"])
            .to_moveit_configs()
        )
        
        # Move Group
        moveit = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [FindPackageShare("ariac_moveit_config"), "/launch", "/ariac_robots_moveit.launch.py"]
            )
        )

        # ARIAC_environment
        ariac_environment = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [FindPackageShare("ariac_gazebo"), "/launch", "/ariac.launch.py"]
            ),
            launch_arguments={
                'trial_name': trial_name,
                'competitor_pkg': "nist_competitor",
                'dev_mode': "true",
                'record_state': record_state,
            }.items()
        )

        # Nist Competitor node
        nist_competitor = Node(
            package="nist_competitor",
            executable="competitor",
            output="screen",
            parameters=[
                moveit_config.robot_description,
                moveit_config.robot_description_semantic,
                moveit_config.robot_description_kinematics,
                moveit_config.joint_limits,
                {"use_sim_time": True},
            ],
            arguments=['--ros-args', '--log-level', 'move_group_interface:=warn', '--log-level', 'moveit_trajectory_processing.time_optimal_trajectory_generation:=error']
        )

        nodes_to_start = [
            nist_competitor,
            ariac_environment,
            moveit
        ]

        return nodes_to_start

    def generate_launch_description():
        declared_arguments = []


        declared_arguments.append(
            DeclareLaunchArgument("trial_name", default_value="kitting", description="Name of ariac trial")
        )

        declared_arguments.append(
            DeclareLaunchArgument("record_state", default_value="true", description="Record gazebo state.log for the trial")
        )

        return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])

.. note::

  * Ensure that the launch arguments for the ariac_environment node are correct for your package

  * Include the trial_name argument as a launch argument for the launch file and make sure that it is passed to the ariac_environment launch file as shown above. 

  * Do not pass dev_mode argument as true to :file:`ariac.launch.py`, doing so will disqualify your team.

  * The :code:`record_state` launch argument must be passed as :python:`'true'` for the environment launch file. This is necessary for judging.