def generate_launch_description()

in lex_node/launch/lex.launch.py [0:0]

• 43 lines of code
• 1 McCabe index (conditional complexity)

def generate_launch_description():
    config_file_path = os.path.join(get_package_share_directory('lex_node'),
                                        'config', 'sample_configuration.yaml')
    with open(config_file_path, 'r') as f:
      config_text = f.read()
    config_yaml = yaml.safe_load(config_text)
    default_aws_region = config_yaml['lex_node']['ros__parameters']['aws_client_configuration']['region']
    default_lex_user_id = config_yaml['lex_node']['ros__parameters']['lex_configuration']['user_id']

    return LaunchDescription([
        DeclareLaunchArgument(
            name='aws_region',
            default_value=os.environ.get('ROS_AWS_REGION', default_aws_region),
        ),
        DeclareLaunchArgument(
            name='config_file',
            default_value=config_file_path
        ),
        DeclareLaunchArgument(
            name='node_name',
            default_value='lex_node'
        ),
        DeclareLaunchArgument(
            name='user_id',
            default_value=os.environ.get('LEX_USER_ID', default_lex_user_id),
        ),
        Node(
            package='lex_node',
            node_executable='lex_node',
            node_name=LaunchConfiguration('node_name'),
            parameters=[
                LaunchConfiguration('config_file'),
                {
                    'aws_client_configuration': {
                        'region': LaunchConfiguration('aws_region')
                    },
                    'lex_configuration': {
                        'user_id': LaunchConfiguration('user_id')
                    }
                }
            ],
            output='screen'
        ),
    ])