ROS Launch File: Setting Command-Line Arguments for Background Color and ROS Namespace

This code defines command-line arguments that can be set from the command line or a default will be used in a ROS launch file. The arguments control the background color using RGB values and specify the ROS topic namespace.

background_r_launch_arg = DeclareLaunchArgument(
    'background_r',default_value=TextSubstitution(text='0')
)
background_g_launch_arg = DeclareLaunchArgument(
    'background_g',default_value=TextSubstitution(text='255')
)
background_b_launch_arg = DeclareLaunchArgument(
    'background_b',default_value=TextSubstitution(text='0')
)
background_b_launch_arg = DeclareLaunchArgument(
    'chatter_ns', default_vaule=TextSubstitution(text='my/chatter/ns')

Explanation:

• DeclareLaunchArgument: This function defines an argument that can be passed to the launch file.
• background_r, background_g, background_b: These arguments define the red, green, and blue components of the background color.
• chatter_ns: This argument defines the namespace for ROS topics.
• default_value: This sets a default value for the argument if it's not provided on the command line.
• TextSubstitution: This ensures that the values are interpreted as strings.