Change system launch file to python launch description

alexlin2 · alexlin2 · commit 876226c2bd3c · 2026-01-18T17:14:31.000-05:00
diff --git a/README.md b/README.md
@@ -207,7 +207,7 @@ To use **PCT planner** instead of FAR planner, run directly via launch and set `
 
 ```bash
 source install/setup.bash
-ros2 launch vehicle_simulator system_simulation_with_route_planner.launch use_pct_planner:=true
+ros2 launch vehicle_simulator system_simulation_with_route_planner.launch.py use_pct_planner:=true
 ```
 
 #### With exploration planner (simulation)
@@ -271,7 +271,7 @@ To use **PCT planner** instead of FAR planner:
 
 ```bash
 source install/setup.bash
-ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch use_pct_planner:=true
+ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py use_pct_planner:=true
 ```
 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py
@@ -3,7 +3,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py
@@ -3,7 +3,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py
@@ -3,10 +3,11 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch.conditions import IfCondition, UnlessCondition
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
   use_pct_planner = LaunchConfiguration('use_pct_planner')
@@ -108,7 +109,8 @@ def generate_launch_description():
   # PCT Planner (alternative)
   start_pct_planner = IncludeLaunchDescription(
     PythonLaunchDescriptionSource(
-      [get_package_share_directory('pct_planner'), '/launch/pct_planner.launch.py']),
+      PathJoinSubstitution([FindPackageShare('pct_planner'), 'launch', 'pct_planner.launch.py'])
+    ),
     condition=IfCondition(use_pct_planner)
   )
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot.launch.py
@@ -3,7 +3,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_exploration_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_exploration_planner.launch.py
@@ -3,7 +3,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_route_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_robot_with_route_planner.launch.py
@@ -3,10 +3,11 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch.conditions import IfCondition, UnlessCondition
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
   use_pct_planner = LaunchConfiguration('use_pct_planner')
@@ -108,7 +109,8 @@ def generate_launch_description():
   # PCT Planner (alternative)
   start_pct_planner = IncludeLaunchDescription(
     PythonLaunchDescriptionSource(
-      [get_package_share_directory('pct_planner'), '/launch/pct_planner.launch.py']),
+      PathJoinSubstitution([FindPackageShare('pct_planner'), 'launch', 'pct_planner.launch.py'])
+    ),
     condition=IfCondition(use_pct_planner)
   )
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_real_slam_only.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_real_slam_only.launch.py
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_simulation.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_simulation.launch.py
@@ -3,7 +3,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_exploration_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_exploration_planner.launch.py
@@ -3,7 +3,7 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration 
 
diff --git a/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_route_planner.launch.py b/src/base_autonomy/vehicle_simulator/launch/system_simulation_with_route_planner.launch.py
@@ -3,10 +3,11 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
+from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch.conditions import IfCondition, UnlessCondition
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
   use_pct_planner = LaunchConfiguration('use_pct_planner')
@@ -141,7 +142,8 @@ def generate_launch_description():
   # PCT Planner (alternative)
   start_pct_planner = IncludeLaunchDescription(
     PythonLaunchDescriptionSource(
-      [get_package_share_directory('pct_planner'), '/launch/pct_planner.launch.py']),
+      PathJoinSubstitution([FindPackageShare('pct_planner'), 'launch', 'pct_planner.launch.py'])
+    ),
     condition=IfCondition(use_pct_planner)
   )
 
diff --git a/system_bagfile.sh b/system_bagfile.sh
@@ -4,6 +4,6 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 cd $SCRIPT_DIR
 source ./install/setup.bash
-ros2 launch vehicle_simulator system_bagfile.launch &
+ros2 launch vehicle_simulator system_bagfile.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/base_autonomy/vehicle_simulator/rviz/vehicle_simulator.rviz
diff --git a/system_bagfile_with_exploration_planner.sh b/system_bagfile_with_exploration_planner.sh
@@ -4,6 +4,6 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 cd $SCRIPT_DIR
 source ./install/setup.bash
-ros2 launch vehicle_simulator system_bagfile_with_exploration_planner.launch &
+ros2 launch vehicle_simulator system_bagfile_with_exploration_planner.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/exploration_planner/tare_planner/rviz/tare_planner_ground.rviz
diff --git a/system_bagfile_with_route_planner.sh b/system_bagfile_with_route_planner.sh
@@ -4,6 +4,6 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 cd $SCRIPT_DIR
 source ./install/setup.bash
-ros2 launch vehicle_simulator system_bagfile_with_route_planner.launch &
+ros2 launch vehicle_simulator system_bagfile_with_route_planner.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/route_planner/far_planner/rviz/default.rviz
diff --git a/system_real_robot.sh b/system_real_robot.sh
@@ -4,6 +4,6 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 cd $SCRIPT_DIR
 source ./install/setup.bash
-ros2 launch vehicle_simulator system_real_robot.launch &
+ros2 launch vehicle_simulator system_real_robot.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/base_autonomy/vehicle_simulator/rviz/vehicle_simulator.rviz
diff --git a/system_real_robot_with_exploration_planner.sh b/system_real_robot_with_exploration_planner.sh
@@ -4,6 +4,6 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 cd $SCRIPT_DIR
 source ./install/setup.bash
-ros2 launch vehicle_simulator system_real_robot_with_exploration_planner.launch &
+ros2 launch vehicle_simulator system_real_robot_with_exploration_planner.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/exploration_planner/tare_planner/rviz/tare_planner_ground.rviz
diff --git a/system_real_robot_with_route_planner.sh b/system_real_robot_with_route_planner.sh
@@ -4,6 +4,6 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
 cd $SCRIPT_DIR
 source ./install/setup.bash
-ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch &
+ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/route_planner/far_planner/rviz/default.rviz
diff --git a/system_simulation.sh b/system_simulation.sh
@@ -6,6 +6,6 @@ cd $SCRIPT_DIR
 source ./install/setup.bash
 ./src/base_autonomy/vehicle_simulator/mesh/unity/environment/Model.x86_64 &
 sleep 3 
-ros2 launch vehicle_simulator system_simulation.launch &
+ros2 launch vehicle_simulator system_simulation.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/base_autonomy/vehicle_simulator/rviz/vehicle_simulator.rviz
diff --git a/system_simulation_with_exploration_planner.sh b/system_simulation_with_exploration_planner.sh
@@ -6,6 +6,6 @@ cd $SCRIPT_DIR
 source ./install/setup.bash
 ./src/base_autonomy/vehicle_simulator/mesh/unity/environment/Model.x86_64 &
 sleep 3 
-ros2 launch vehicle_simulator system_simulation_with_exploration_planner.launch &
+ros2 launch vehicle_simulator system_simulation_with_exploration_planner.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/exploration_planner/tare_planner/rviz/tare_planner_ground.rviz
diff --git a/system_simulation_with_route_planner.sh b/system_simulation_with_route_planner.sh
@@ -6,6 +6,6 @@ cd $SCRIPT_DIR
 source ./install/setup.bash
 ./src/base_autonomy/vehicle_simulator/mesh/unity/environment/Model.x86_64 &
 sleep 3 
-ros2 launch vehicle_simulator system_simulation_with_route_planner.launch &
+ros2 launch vehicle_simulator system_simulation_with_route_planner.launch.py &
 sleep 1
 ros2 run rviz2 rviz2 -d src/route_planner/far_planner/rviz/default.rviz
