[ros2_driver] Following updates made to ros2_driver/src/ti_mmwave_rospkg:

1. Updated CMakeLists.txt to install the "cfg" folder.
2. Path to .cfg file is now set using get_package_share_directory().
3. Updated 6843*.py launch files to add a feature optionally disable rViz with an launch argument "rviz". To disable rViz, pass "rviz:=false" in the launch command.

ros2_driver/src/ti_mmwave_rospkg/CMakeLists.txt

@@ -224,6 +224,10 @@ install(DIRECTORY
   config
   DESTINATION share/${PROJECT_NAME}
 )
+install(DIRECTORY
+  cfg
+  DESTINATION share/${PROJECT_NAME}
+)
 install(TARGETS 
   mmWaveCommSrv 
   DESTINATION lib/${PROJECT_NAME}

ros2_driver/src/ti_mmwave_rospkg/launch/1443_Standard.py

@@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory
 def generate_launch_description():
 
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1443_Standard.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','1443_Standard.cfg')
     device = "1443"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
     ld = LaunchDescription()
     ConfigParameters = os.path.join(
@@ -93,7 +93,6 @@ def generate_launch_description():
         package='rviz2',
         executable='rviz2',
         arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
     )
 
     ld.add_action(global_param_node)

ros2_driver/src/ti_mmwave_rospkg/launch/1642_Standard.py

@@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory
 def generate_launch_description():
 
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1642_Standard.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','1642_Standard.cfg')
     name = "/mmWaveCLI"
     device = "1642"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
     ld = LaunchDescription()
     ConfigParameters = os.path.join(
@@ -93,7 +93,6 @@ def generate_launch_description():
         package='rviz2',
         executable='rviz2',
         arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
     )
 
     ld.add_action(global_param_node)

ros2_driver/src/ti_mmwave_rospkg/launch/1843_Standard.py

@@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory
 def generate_launch_description():
 
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1843_Standard.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','1843_Standard.cfg')
     device = "1843"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
     ld = LaunchDescription()
     ConfigParameters = os.path.join(
@@ -93,7 +93,6 @@ def generate_launch_description():
         package='rviz2',
         executable='rviz2',
         arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
     )
 
     ld.add_action(global_param_node)

ros2_driver/src/ti_mmwave_rospkg/launch/6432_Standard.py

@@ -11,14 +11,14 @@ from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6432_Standard_Uncompressed.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','6432_Standard_Uncompressed.cfg')
     device = "6432"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyACM0"
     command_rate = "115200"
     data_port = "/dev/ttyACM0"
     data_rate = "115200"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
     ld = LaunchDescription()
     ConfigParameters = os.path.join(

ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py

@@ -1,23 +1,32 @@
 import os
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch import LaunchDescription, conditions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
+    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument(
+        'rviz',
+        default_value='true',
+        description='Enable RViz'
+    )
+
+    # Use the launch argument in the condition for adding the RViz node
+    rviz_enabled = LaunchConfiguration('rviz')
+
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Standard.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','6843AOP_Standard.cfg')
     device = "6843"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
-    ld = LaunchDescription()
     ConfigParameters = os.path.join(
         my_package_dir,
         'config',
@@ -89,13 +98,16 @@ def generate_launch_description():
         ]
 
     )
+
     Rviz2 = Node(
         package='rviz2',
         executable='rviz2',
-             arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
+        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
+    ld = LaunchDescription()
+    ld.add_action(rviz_arg)
     ld.add_action(global_param_node)
     ld.add_action(mmWaveCommSrv)
     ld.add_action(mmWaveQuickConfig)

ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py

@@ -1,23 +1,32 @@
 import os
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch import LaunchDescription, conditions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
+    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument(
+        'rviz',
+        default_value='true',
+        description='Enable RViz'
+    )
+
+    # Use the launch argument in the condition for adding the RViz node
+    rviz_enabled = LaunchConfiguration('rviz')
+
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Tracking.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
     device = "6843"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
-    ld = LaunchDescription()
     ConfigParameters = os.path.join(
         my_package_dir,
         'config',
@@ -89,13 +98,16 @@ def generate_launch_description():
         ]
 
     )
+
     Rviz2 = Node(
         package='rviz2',
         executable='rviz2',
-             arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
+        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
+    ld = LaunchDescription()
+    ld.add_action(rviz_arg)
     ld.add_action(global_param_node)
     ld.add_action(mmWaveCommSrv)
     ld.add_action(mmWaveQuickConfig)

ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py

@@ -1,23 +1,32 @@
 import os
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch import LaunchDescription, conditions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
+    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument(
+        'rviz',
+        default_value='true',
+        description='Enable RViz'
+    )
+
+    # Use the launch argument in the condition for adding the RViz node
+    rviz_enabled = LaunchConfiguration('rviz')
+
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISK_Occupancy.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','6843ISK_Occupancy.cfg')
     device = "6843"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
-    ld = LaunchDescription()
     ConfigParameters = os.path.join(
         my_package_dir,
         'config',
@@ -89,13 +98,16 @@ def generate_launch_description():
         ]
 
     )
+
     Rviz2 = Node(
         package='rviz2',
         executable='rviz2',
-             arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
+        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
+    ld = LaunchDescription()
+    ld.add_action(rviz_arg)
     ld.add_action(global_param_node)
     ld.add_action(mmWaveCommSrv)
     ld.add_action(mmWaveQuickConfig)

ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py

@@ -1,23 +1,32 @@
 import os
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch import LaunchDescription, conditions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
+    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument(
+        'rviz',
+        default_value='true',
+        description='Enable RViz'
+    )
+
+    # Use the launch argument in the condition for adding the RViz node
+    rviz_enabled = LaunchConfiguration('rviz')
+
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISK_Standard.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','6843ISK_Standard.cfg')
     device = "6843"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
-    ld = LaunchDescription()
     ConfigParameters = os.path.join(
         my_package_dir,
         'config',
@@ -89,13 +98,16 @@ def generate_launch_description():
         ]
 
     )
+
     Rviz2 = Node(
         package='rviz2',
         executable='rviz2',
-             arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
+        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
+    ld = LaunchDescription()
+    ld.add_action(rviz_arg)
     ld.add_action(global_param_node)
     ld.add_action(mmWaveCommSrv)
     ld.add_action(mmWaveQuickConfig)

ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py

@@ -1,23 +1,32 @@
 import os
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch import LaunchDescription, conditions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
+    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument(
+        'rviz',
+        default_value='true',
+        description='Enable RViz'
+    )
+
+    # Use the launch argument in the condition for adding the RViz node
+    rviz_enabled = LaunchConfiguration('rviz')
+
     # Enter Path and Name Here
-    path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Tracking.cfg";
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
     device = "6843"
     name = "/mmWaveCLI"
     command_port = "/dev/ttyUSB0"
     command_rate = "115200"
     data_port = "/dev/ttyUSB1"
     data_rate = "921600"
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
 
-    ld = LaunchDescription()
     ConfigParameters = os.path.join(
         my_package_dir,
         'config',
@@ -89,13 +98,16 @@ def generate_launch_description():
         ]
 
     )
+
     Rviz2 = Node(
         package='rviz2',
         executable='rviz2',
-             arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
-        
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
+        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
+    ld = LaunchDescription()
+    ld.add_action(rviz_arg)
     ld.add_action(global_param_node)
     ld.add_action(mmWaveCommSrv)
     ld.add_action(mmWaveQuickConfig)

ros2_driver/src/ti_mmwave_rospkg/launch/rviz_launch.py

@@ -0,0 +1,21 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    # Enter Path and Name Here
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+
+    Rviz2 = Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
+    )
+
+    ld = LaunchDescription([
+        Rviz2
+    ])
+
+    return ld