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Add 'repetition' example using ForLoop action #18

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Add 'repetition' example using ForLoop action #18

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19 changes: 19 additions & 0 deletions donatello/launch/12-repetition.launch.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
import launch
from launch.actions import DeclareLaunchArgument, ForLoop
from launch.substitutions import LaunchConfiguration
import launch_ros.actions


def for_i(i: int):
return [
# i will be [0, N), so use i+1 to get [1, N]
launch_ros.actions.Node(name=['donatello_node', str(i + 1)],
package='donatello', executable='donatello_node'),
]


def generate_launch_description():
return launch.LaunchDescription([
DeclareLaunchArgument('N', default_value='10'),
ForLoop(LaunchConfiguration('N'), function=for_i),
])