mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 15:43:48 +00:00
56 lines
2.0 KiB
Python
56 lines
2.0 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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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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lidar_dir = os.path.join(get_package_share_directory('cps_loki_bringup'), 'config', 'lidar.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=namespace,
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parameters=[lidar_dir],
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)
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return LaunchDescription([
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lidar_node
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])
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