mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 15:43:48 +00:00
72 lines
2.6 KiB
Python
72 lines
2.6 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, LaunchConfiguration
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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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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
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def generate_launch_description():
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namespace = LaunchConfiguration('namespace')
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use_sim_time = LaunchConfiguration('use_sim_time')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true')
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twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','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': use_sim_time}],
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remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
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namespace = namespace
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)
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joy_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','joystick.yaml')
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joy_node = Node(
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package='joy',
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executable='joy_node',
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parameters=[joy_params, {'use_sim_time': use_sim_time}],
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namespace = namespace
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)
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teleop_node = Node(
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package='teleop_twist_joy',
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executable='teleop_node',
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name='teleop_node',
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parameters=[joy_params, {'use_sim_time': use_sim_time}],
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remappings=[('cmd_vel', 'cmd_vel_joy')],
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namespace = namespace
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)
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return LaunchDescription([
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twist_mux,
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joy_node,
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teleop_node
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])
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