add auto run

config/ctrlgui.yaml

@@ -1,33 +0,0 @@
-ctrlgui_node:
-  ros__parameters:
-    collection_enabled: false
-    data_base_dir: "/home/demo/hivecore_robot_os1/data"
-    log_base_dir: "/var/log/robot"
-    queue_size: 10
-    action_server_wait_timeout_sec: 1.0
-    work_info_log_throttle_sec: 1.0
-    joint_state_log_throttle_sec: 1.0
-    work_info_log_every_n: 100
-    bt_xml_log_max_len: 100
-    ui_update_period_sec: 0.5
-    host: "0.0.0.0"
-    port: 8080
-
-    topic_led_cmd: "/led_cmd"
-    service_rebuild_now: "/cerebrum/rebuild_now"
-    topic_robot_work_info: "/robot_work_info"
-    action_execute_bt: "/execute_bt_action"
-    topic_joint_states: "/joint_states"
-    action_gripper0_cmd: "/gripper_cmd0"
-    action_gripper1_cmd: "/gripper_cmd1"
-    topic_gripper0_status: "/gripper0/status"
-    topic_gripper1_status: "/gripper1/status"
-    topic_arm_errors: "/arm_errors"
-    service_clear_arm_error: "clear_arm_error"
-
-    topic_top_color: "/camera/color/image_raw"
-    topic_top_depth: "/camera/depth/image_raw"
-    topic_left_color: "/camera1/camera1/color/image_raw"
-    topic_left_depth: "/camera1/camera1/depth/image_rect_raw"
-    topic_right_color: "/camera2/camera2/color/image_raw"
-    topic_right_depth: "/camera2/camera2/depth/image_rect_raw"

launch/ctrlgui.launch.py

@@ -2,8 +2,6 @@ from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-import os
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -17,12 +15,8 @@ def generate_launch_description() -> LaunchDescription:
     port_arg = DeclareLaunchArgument(
         'port', default_value='8080',
         description='TCP port for NiceGUI')
-    params_file_arg = DeclareLaunchArgument(
-        'params_file',
-        default_value=os.path.join(get_package_share_directory('ctrlgui'), 'config', 'ctrlgui.yaml'),
-        description='Path to the ctrlgui parameter file')
 
-    ld = LaunchDescription([node_name_arg, host_arg, port_arg, params_file_arg])
+    ld = LaunchDescription([node_name_arg, host_arg, port_arg])
 
     ctrlgui_node = Node(
         package='ctrlgui',
@@ -30,13 +24,11 @@ def generate_launch_description() -> LaunchDescription:
         name=LaunchConfiguration('node_name'),
         output='screen',
         emulate_tty=True,
-        parameters=[
-            LaunchConfiguration('params_file'),
-            {
-                'host': LaunchConfiguration('host'),
-                'port': LaunchConfiguration('port'),
-            },
-        ],
+        parameters=[],
+        env={
+            'HOST': LaunchConfiguration('host'),
+            'PORT': LaunchConfiguration('port'),
+        },
     )
 
     ld.add_action(ctrlgui_node)

setup.py

@@ -17,7 +17,6 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name + '/launch', ['launch/ctrlgui.launch.py']),
-        ('share/' + package_name + '/config', ['config/ctrlgui.yaml']),
         # Install top-level static assets into share for runtime serving
         ('share/' + package_name + '/static', [
             *glob(os.path.join('static', '*'))