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When using OpaqueFunction you can define the LaunchConfiguration variable inside it and use its .perform(context) method. You can check it out how I did it here So, in short

def launch_setup(context, *args, **kwargs):
    some_var = LaunchConfiguration('some_variable')
    some_var_runtime_value = some_var.perform(context)

I hope this helps

When using OpaqueFunction you can define the LaunchConfiguration variable inside it and use its .perform(context) method. You can check it out how I did it here So, in short

def launch_setup(context, *args, **kwargs):
    some_var = LaunchConfiguration('some_variable')
    some_var_runtime_value = some_var.perform(context)

I hope this helps

When using OpaqueFunction you can define the LaunchConfiguration variable inside it and use its .perform(context) method. You can check it out how I did it here So, in short

def launch_setup(context, *args, **kwargs):
    some_var = LaunchConfiguration('some_variable')
    some_var_runtime_value = some_var.perform(context)

I hope this helps

When using OpaqueFunction you can define the LaunchConfiguration variable inside it and use its .perform(context) method. You can check it out how I did it here So, in short

def launch_setup(context, *args, **kwargs):
    some_var = LaunchConfiguration('some_variable')
    some_var_runtime_value = some_var.perform(context)

I hope this helps

def launch_setup(context, *args, **kwargs):

    robot_model = LaunchConfiguration("robot_model")
    :

def generate_launch_description():
    return LaunchDescription(
        [
            DeclareLaunchArgument(
                "robot_model",
                default_value=TextSubstitution(text=""),
                description=(
                    "model type of the Interbotix Arm such as 'wx200' or 'rx150'"
                ),
            ),
            DeclareLaunchArgument(
        :

            OpaqueFunction(function=launch_setup),
        ]
    )