mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-27 17:35:46 +00:00
45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.substitutions import LaunchConfiguration
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from launch.actions import DeclareLaunchArgument
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import os
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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joy_params = os.path.join(get_package_share_directory('segway_rmp220_support'),'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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)
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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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)
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# twist_stamper = Node(
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# package='twist_stamper',
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# executable='twist_stamper',
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# parameters=[{'use_sim_time': use_sim_time}],
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# remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
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# ('/cmd_vel_out','/diff_cont/cmd_vel')]
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# )
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use sim time if true'),
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joy_node,
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teleop_node,
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# twist_stamper
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])
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