ROS 2 launch files as Mixins

General
1

Recently explored Mixins to structure ROS 2 launch files. This offers:

  • Code completion (so to understand what nodes / arguments a package offers / needs) code_completion
  • Flexible composition (mix and match)
  • Importable (but launch files inclusion still possible)
    • Include launch file
      from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
    • Mixins
      from ros2_launch_mixin.mixins import TurtleSimMixin, HelloWorldMixin

Full demo:

Note this is very preliminary and any feedback is welcome!

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