mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 23:55:09 +00:00
45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
|
from launch import LaunchDescription
|
||
|
|
from launch_ros.actions import Node
|
||
|
|
from launch.substitutions import LaunchConfiguration
|
||
|
|
from launch.actions import DeclareLaunchArgument
|
||
|
|
|
||
|
|
import os
|
||
|
|
from ament_index_python.packages import get_package_share_directory
|
||
|
|
|
||
|
|
def generate_launch_description():
|
||
|
|
use_sim_time = LaunchConfiguration('use_sim_time')
|
||
|
|
|
||
|
|
joy_params = os.path.join(get_package_share_directory('segway_rmp220_support'),'config','joystick.yaml')
|
||
|
|
|
||
|
|
joy_node = Node(
|
||
|
|
package='joy',
|
||
|
|
executable='joy_node',
|
||
|
|
parameters=[joy_params, {'use_sim_time': use_sim_time}],
|
||
|
|
)
|
||
|
|
|
||
|
|
teleop_node = Node(
|
||
|
|
package='teleop_twist_joy',
|
||
|
|
executable='teleop_node',
|
||
|
|
name='teleop_node',
|
||
|
|
parameters=[joy_params, {'use_sim_time': use_sim_time}],
|
||
|
|
remappings=[('/cmd_vel','/cmd_vel_joy')]
|
||
|
|
)
|
||
|
|
|
||
|
|
# twist_stamper = Node(
|
||
|
|
# package='twist_stamper',
|
||
|
|
# executable='twist_stamper',
|
||
|
|
# parameters=[{'use_sim_time': use_sim_time}],
|
||
|
|
# remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
|
||
|
|
# ('/cmd_vel_out','/diff_cont/cmd_vel')]
|
||
|
|
# )
|
||
|
|
|
||
|
|
|
||
|
|
return LaunchDescription([
|
||
|
|
DeclareLaunchArgument(
|
||
|
|
'use_sim_time',
|
||
|
|
default_value='false',
|
||
|
|
description='Use sim time if true'),
|
||
|
|
joy_node,
|
||
|
|
teleop_node,
|
||
|
|
# twist_stamper
|
||
|
|
])
|