ROS2でnodeが終了してしまった時に再起動させる

内容

respawn=Trueを設定してあげたら良さそう。

from launch import LaunchDescription
import launch_ros.actions


def generate_launch_description():
    return LaunchDescription(
        [
            launch_ros.actions.Node(
                namespace="turtlesim1",
                package="turtlesim",
                executable="turtlesim_node",
                output="screen",
                respawn=True
            )
        ]
    )

参考

https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Launching-Multiple-Nodes/Launching-Multiple-Nodes.html
https://github.com/ros2/launch_ros/blob/rolling/launch_ros/launch_ros/actions/node.py