quadruped_ros2_control/libraries/gz_quadruped_playground/launch/unitree_guide.launch.py

import xacro
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node

def generate_launch_description():
    joint_state_publisher = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["joint_state_broadcaster",
                   "--controller-manager", "/controller_manager"]
    )

    imu_sensor_broadcaster = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["imu_sensor_broadcaster",
                   "--controller-manager", "/controller_manager"]
    )

    unitree_guide_controller = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"]
    )

    return LaunchDescription([
        joint_state_publisher,
        RegisterEventHandler(
            event_handler=OnProcessExit(
                target_action=joint_state_publisher,
                on_exit=[imu_sensor_broadcaster],
            )
        ),
        RegisterEventHandler(
            event_handler=OnProcessExit(
                target_action=imu_sensor_broadcaster,
                on_exit=[unitree_guide_controller],
            )
        ),
    ])