120 lines
3.7 KiB
Python
120 lines
3.7 KiB
Python
# Copyright 2022 Factor Robotics
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import LifecycleNode
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from launch_ros.descriptions import ParameterValue
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def generate_launch_description():
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare("bot_mini_description"),
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"urdf",
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"odrive_diffbot.urdf.xacro"
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]
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),
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]
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)
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robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare("bot_mini_bringup"),
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"config",
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"diffbot_controllers.yaml",
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]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diffbot_base_controller", "-c", "/controller_manager"],
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)
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joystick_spawner = Node(
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package="joy",
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executable="joy_node"
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)
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teleop_spawner = Node(
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package="rmp220_teleop",
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executable="rmp220_teleop",
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remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_out')]
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)
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cam_node = Node(
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package="ros2_cam_openCV",
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executable="cam_node"
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)
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lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
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lidar_node = LifecycleNode(
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package='lslidar_driver',
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executable='lslidar_driver_node',
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name='lslidar_driver_node',
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output='screen',
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emulate_tty=True,
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namespace='',
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parameters=[lidar_dir],
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)
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twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
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twist_mux = Node(
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package="twist_mux",
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executable="twist_mux",
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parameters=[twist_mux_params, {'use_sim_time': False}],
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remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
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)
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return LaunchDescription([
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#control_node,
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#robot_state_pub_node,
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#joint_state_broadcaster_spawner,
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#robot_controller_spawner,
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joystick_spawner,
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teleop_spawner,
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#cam_node,
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#lidar_node,
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twist_mux
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]) |