choose random items from python file and send to launch file

edit

Can you elaborate on your intentions? normally you do something like this programmatically in your node. you can also launch a launchfile with arguments, maybe that's what you're looking for.

from random import seed

from random import choice

import rclpy

from rclpy.node import Node

class GenParams(Node):

seed(1)

array = [banana,apple,pear,mango,orange]

for _ in range(2):

selection = choice(array)

print(selection)

def __init__(self):

super().__init__('gen_params_rclpy')

self.declare_parameter('rand_fruit')

rand_fruit = selection

print(rand_fruit)

def main(args=Node):

rclpy.init(args=args)

node = TestParams()

rclpy.spin(node)

node.destroy_node()

rclpy.shutdown()

if __name__==”__main__”:

main()

<launch>

< param name="rand_fruit" command="$(find fruit_pkg)/scripts/rand_choose.py"/>

</launch>

When I launch the choose_fruit file, i got error messages:

Caught exception when trying to load file of format [xml]:Caught exception when trying to load file of format [xml]: not well-formed (invalid token): line 4, column 1

May I know how to improve it to be workable? Thanks!

Related files: rand_choose.py:

from random import seed

from random import choice

import rclpy

from rclpy.node import Node

class GenParams(Node):

    seed(1)

    array = [banana,apple,pear,mango,orange]

    for _ in range(2):

            selection = choice(array)

            print(selection)

    def __init__(self):

            super().__init__('gen_params_rclpy')

            self.declare_parameter('rand_fruit')

            rand_fruit = selection

            print(rand_fruit)

def main(args=Node):

      rclpy.init(args=args)

      node = TestParams()

      rclpy.spin(node)

      node.destroy_node()

      rclpy.shutdown()

if __name__==”__main__”:

      main()

choose_fruit.launch.xml:

<launch>

      < param name="rand_fruit" command="$(find fruit_pkg)/scripts/rand_choose.py"/>

</launch>

Please advise what's the problem in above files and how to make them workable in ros2. Thanks!