From 1321b5ede8a5bf625d38b7ceaa95c990b5752cf2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 14 Sep 2023 08:35:26 +0200
Subject: [PATCH] update: add explore launch file

---
 launch/robot_exploration.launch.py | 37 ++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 launch/robot_exploration.launch.py

diff --git a/launch/robot_exploration.launch.py b/launch/robot_exploration.launch.py
new file mode 100644
index 0000000..20b2366
--- /dev/null
+++ b/launch/robot_exploration.launch.py
@@ -0,0 +1,37 @@
+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
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    use_sim_time = False
+    config_file = PathJoinSubstitution(
+                [
+                    FindPackageShare("explore_lite"),
+                    "config",
+                    "params.yaml"
+                ]
+            )
+    namespace = "/rmp"
+    mapper_node = Node(
+        package="explore_lite",
+        executable="explore",
+        name='explore_node',
+        output='screen',
+        parameters=[
+            config_file,
+            {'use_sim_time': use_sim_time}
+        ],
+        #namespace = namespace,
+        #remappings=[('/scan', 'scan'), ('/map', 'map')],
+    )
+
+    return LaunchDescription([
+        mapper_node
+    ])
\ No newline at end of file