ellensohn/cps_rmp220_support
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rviz launch file

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This commit is contained in:
Björn Ellensohn 2023-08-22 09:07:33 +02:00
parent 21e4dbf789
commit 608779e6b8
1 changed files with 1 additions and 103 deletions
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104
launch/robot_localization.launch.py
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@ -24,100 +24,7 @@ from launch.substitutions import LaunchConfiguration
def generate_launch_description():
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[
FindPackageShare("cps_rmp220_support"),
"description",
"robot.urdf.xacro"
]
),
]
)
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("cps_rmp220_support"),
"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"
)
cam_node = Node(
package="ros2_cam_openCV",
executable="cam_node"
)
use_sim_time = False
slam_params_file = PathJoinSubstitution(
[
FindPackageShare("cps_rmp220_support"),
"config",
"mapper_params_online_async.yaml"
]
)
mapper_node = Node(
package="slam_toolbox",
executable="async_slam_toolbox_node",
name='slam_toolbox_node',
output='screen',
parameters=[
slam_params_file,
{'use_sim_time': use_sim_time}
],
)
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],
)
robot_localization_node = Node(
package='robot_localization',
executable='ekf_node',
@ -135,14 +42,5 @@ def generate_launch_description():
)
return LaunchDescription([
#control_node,
#robot_state_pub_node,
#joint_state_broadcaster_spawner,
#robot_controller_spawner,
#joystick_spawner,
#teleop_spawner,
#cam_node,
#lidar_node,
#mapper_node,
robot_localization_node
])