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26 lines
942 B
Python
Executable File
26 lines
942 B
Python
Executable File
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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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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control_node = Node(
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package='segwayrmp',
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executable='SmartCar',
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name='SmartCar',
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#remappings=[('cmd_vel','cmd_vel_out'), ('/odom','odom'), ('/imu','imu'), ('/bms_fb','bms_fb'), ('/joint_states','joint_states'), ('/tf','tf'), ('/tf_static','tf_static')],
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remappings=[('cmd_vel','cmd_vel_out')],
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#namespace = "/rmp"
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parameters=[{'serial_full_name': /dev/ttyUSB0}],
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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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control_node
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]) |