mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-27 17:35:46 +00:00
37 lines
1.1 KiB
Python
37 lines
1.1 KiB
Python
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
|
|
]) |