mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 15:45:08 +00:00
47 lines
1.7 KiB
Python
47 lines
1.7 KiB
Python
|
from launch import LaunchDescription
|
||
|
|
from launch_ros.actions import Node
|
||
|
|
from launch.substitutions import LaunchConfiguration, Command, FindExecutable, PathJoinSubstitution
|
||
|
|
from launch.actions import DeclareLaunchArgument
|
||
|
|
from launch_ros.substitutions import FindPackageShare
|
||
|
|
from launch_ros.descriptions import ParameterValue
|
||
|
|
from launch_ros.actions import LifecycleNode
|
||
|
|
|
||
|
|
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('cps_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_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'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','/diffbot_base_controller/cmd_vel_unstamped')]
|
||
|
|
)
|
||
|
|
|
||
|
|
return LaunchDescription([
|
||
|
|
DeclareLaunchArgument(
|
||
|
|
'use_sim_time',
|
||
|
|
default_value='false',
|
||
|
|
description='Use sim time if true'),
|
||
|
|
joy_node,
|
||
|
|
teleop_node,
|
||
|
|
twist_mux
|
||
|
|
])
|