29 lines
876 B
Python
29 lines
876 B
Python
import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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import ament_index_python.packages
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def generate_launch_description():
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config_directory = os.path.join(
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ament_index_python.packages.get_package_share_directory('ur_robotiq_servo'),
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'config')
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joy_params = os.path.join(config_directory, 'joy-params.yaml')
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ps5_params = os.path.join(config_directory, 'ps5-params.yaml')
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return LaunchDescription([
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Node(
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package='joy',
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executable='joy_node',
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name='joy_node',
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output='screen',
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parameters=[joy_params],
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),
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Node(
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package='ur_robotiq_servo',
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executable='ps5_servo',
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name='ps5_servo_node',
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output='screen',
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parameters=[ps5_params],
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arguments=[],
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),
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]) |