a

robomaster_pi/command_executer.py

@@ -17,17 +17,17 @@ class CommandExecutor(Node):
         self.running_processes = {}  # Dictionary to store the running processes with custom names
 
     def execute_command_callback(self, msg):
-        name, command = msg.data.split(" ", 1)  # Split the received string into command and name
-        self.get_logger().info(f"name: '{name}' command: '{command}'.")
+        name, command, parameter = msg.data.split(" ", 2)  # Split the received string into command and name
+        self.get_logger().info(f"name: '{name}' command: '{command}' parameter: '{parameter}'."")
         if command == "kill":
             self.kill_node(name)  # Call the kill_node method using 'self'
         else:
             # Execute the launch command in a separate thread
-            threading.Thread(target=self.execute_command, args=(name, command)).start()
+            threading.Thread(target=self.execute_command, args=(name, command, parameter)).start()
 
-    def execute_command(self, name, command):
+    def execute_command(self, name, command, parameter):
         try:
-            process_handle = subprocess.Popen(["ros2", "launch", "robot_loc", command], text=True)
+            process_handle = subprocess.Popen(["ros2", "launch", "robot_loc", command, parameter], text=True)
             self.running_processes[name] = process_handle
             process_handle.wait()  # Wait for the process to finish
             if name in self.running_processes: