system_monitor.launch.py

#!/usr/bin/env python3

#################################################################################
# Copyright 2009, Willow Garage, Inc.
# Copyright 2013 by Ralf Kaestner
# Copyright 2013 by Jerome Maye
# Copyright 2023 by kei1107
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import os

from ament_index_python.packages import get_package_share_directory
from launch.launch_description import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    config_file_default = os.path.join(
        get_package_share_directory("ros2_system_monitor"),
        "config",
        "system_monitor.yaml",
    )
    declare_config_file = DeclareLaunchArgument(
        name="system_monitor_config_file",
        default_value=config_file_default,
        description="system monitor config file path",
    )
    declare_enable_cpu_monitor = DeclareLaunchArgument(
        name="enable_cpu_monitor",
        default_value="true",
        description="enable cpu_monitor if true",
    )
    declare_enable_hdd_monitor = DeclareLaunchArgument(
        name="enable_hdd_monitor",
        default_value="true",
        description="enable hdd_monitor if true",
    )
    declare_enable_mem_monitor = DeclareLaunchArgument(
        name="enable_mem_monitor",
        default_value="true",
        description="enable mem_monitor if true",
    )
    declare_enable_net_monitor = DeclareLaunchArgument(
        name="enable_net_monitor",
        default_value="true",
        description="enable net_monitor if true",
    )
    declare_enable_ntp_monitor = DeclareLaunchArgument(
        name="enable_ntp_monitor",
        default_value="true",
        description="enable ntp_monitor if true",
    )

    cpu_monitor = Node(
        package="ros2_system_monitor",
        executable="cpu_monitor_node.py",
        parameters=[LaunchConfiguration("system_monitor_config_file")],
        respawn=True,
        emulate_tty=True,
        condition=IfCondition(LaunchConfiguration("enable_cpu_monitor")),
    )
    hdd_monitor = Node(
        package="ros2_system_monitor",
        executable="hdd_monitor_node.py",
        parameters=[LaunchConfiguration("system_monitor_config_file")],
        respawn=True,
        emulate_tty=True,
        condition=IfCondition(LaunchConfiguration("enable_hdd_monitor")),
    )
    mem_monitor = Node(
        package="ros2_system_monitor",
        executable="mem_monitor_node.py",
        parameters=[LaunchConfiguration("system_monitor_config_file")],
        respawn=True,
        emulate_tty=True,
        condition=IfCondition(LaunchConfiguration("enable_mem_monitor")),
    )
    net_monitor = Node(
        package="ros2_system_monitor",
        executable="net_monitor_node.py",
        parameters=[LaunchConfiguration("system_monitor_config_file")],
        respawn=True,
        emulate_tty=True,
        condition=IfCondition(LaunchConfiguration("enable_net_monitor")),
    )
    ntp_monitor = Node(
        package="ros2_system_monitor",
        executable="ntp_monitor_node.py",
        parameters=[LaunchConfiguration("system_monitor_config_file")],
        respawn=True,
        emulate_tty=True,
        condition=IfCondition(LaunchConfiguration("enable_ntp_monitor")),
    )

    # create the launch description
    ld = LaunchDescription()

    # declare the launch options
    ld.add_action(declare_config_file)
    ld.add_action(declare_enable_cpu_monitor)
    ld.add_action(declare_enable_hdd_monitor)
    ld.add_action(declare_enable_mem_monitor)
    ld.add_action(declare_enable_net_monitor)
    ld.add_action(declare_enable_ntp_monitor)

    # add the actions
    ld.add_action(cpu_monitor)
    ld.add_action(hdd_monitor)
    ld.add_action(mem_monitor)
    ld.add_action(net_monitor)
    ld.add_action(ntp_monitor)

    return ld