ellensohn/cps_loki_bringup
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added lidar node

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This commit is contained in:
Björn Ellensohn 2023-06-01 09:33:53 +02:00
parent f31b49ba66
commit e48d815beb
1 changed files with 16 additions and 1 deletions
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17
launch/joy_bot_mini.launch.py
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@ -12,10 +12,13 @@
# See the License for the specific language governing permissions and # See the License for the specific language governing permissions and
# limitations under the License. # limitations under the License.
import os
from launch import LaunchDescription from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
from launch_ros.actions import Node from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import LifecycleNode
def generate_launch_description(): def generate_launch_description():
@ -83,6 +86,17 @@ def generate_launch_description():
executable="cam_node" executable="cam_node"
) )
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
lidar_node = LifecycleNode(package='lslidar_driver',
executable='lslidar_driver_node',
name='lslidar_driver_node',
output='screen',
emulate_tty=True,
namespace='',
parameters=[lidar_dir],
)
return LaunchDescription([ return LaunchDescription([
control_node, control_node,
robot_state_pub_node, robot_state_pub_node,
@ -90,5 +104,6 @@ def generate_launch_description():
robot_controller_spawner, robot_controller_spawner,
joystick_spawner, joystick_spawner,
teleop_spawner, teleop_spawner,
cam_node cam_node,
lidar_node
]) ])