mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 23:53:48 +00:00
121 lines
3.7 KiB
Python
121 lines
3.7 KiB
Python
# Copyright 2022 Factor Robotics
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
import os
|
|
from launch import LaunchDescription
|
|
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
from ament_index_python.packages import get_package_share_directory
|
|
from launch_ros.actions import LifecycleNode
|
|
from launch_ros.descriptions import ParameterValue
|
|
|
|
|
|
def generate_launch_description():
|
|
robot_description_content = Command(
|
|
[
|
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
|
" ",
|
|
PathJoinSubstitution(
|
|
[
|
|
FindPackageShare("bot_mini_description"),
|
|
"urdf",
|
|
"odrive_diffbot.urdf.xacro"
|
|
]
|
|
),
|
|
]
|
|
)
|
|
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
|
|
|
|
robot_controllers = PathJoinSubstitution(
|
|
[
|
|
FindPackageShare("bot_mini_bringup"),
|
|
"config",
|
|
"diffbot_controllers.yaml",
|
|
]
|
|
)
|
|
|
|
control_node = Node(
|
|
package="controller_manager",
|
|
executable="ros2_control_node",
|
|
parameters=[robot_description, robot_controllers],
|
|
output="both",
|
|
)
|
|
|
|
robot_state_pub_node = Node(
|
|
package="robot_state_publisher",
|
|
executable="robot_state_publisher",
|
|
output="both",
|
|
parameters=[robot_description],
|
|
)
|
|
|
|
joint_state_broadcaster_spawner = Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
|
|
)
|
|
|
|
robot_controller_spawner = Node(
|
|
package="controller_manager",
|
|
executable="spawner",
|
|
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
|
|
)
|
|
|
|
joystick_spawner = Node(
|
|
package="joy",
|
|
executable="joy_node"
|
|
)
|
|
|
|
teleop_spawner = Node(
|
|
package="rmp220_teleop",
|
|
executable="rmp220_teleop",
|
|
remappings=[('/cmd_vel','/diffbot_base_controller/cmd_vel_unstamped')]
|
|
)
|
|
|
|
cam_node = Node(
|
|
package="ros2_cam_openCV",
|
|
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],
|
|
)
|
|
|
|
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
|
|
twist_mux = Node(
|
|
package="twist_mux",
|
|
executable="twist_mux",
|
|
parameters=[twist_mux_params, {'use_sim_time': False}],
|
|
remappings=[('/cmd_vel_out','/cmd_vel_mux')]
|
|
)
|
|
|
|
return LaunchDescription([
|
|
#control_node,
|
|
#robot_state_pub_node,
|
|
#joint_state_broadcaster_spawner,
|
|
#robot_controller_spawner,
|
|
joystick_spawner,
|
|
teleop_spawner,
|
|
#cam_node,
|
|
#lidar_node,
|
|
twist_mux
|
|
])
|