mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 15:45:08 +00:00
65 lines
2.1 KiB
Python
65 lines
2.1 KiB
Python
# Copyright 2022 Factor Robotics
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import LifecycleNode
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from launch_ros.descriptions import ParameterValue
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare("cps_rmp220_support"),
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"description",
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"robot.urdf.xacro"
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]
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),
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]
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)
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use_sim_time = False
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slam_params_file = PathJoinSubstitution(
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[
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FindPackageShare("cps_rmp220_support"),
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"config",
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"mapper_params_online_async.yaml"
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]
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)
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namespace = "/rmp"
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mapper_node = Node(
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package="slam_toolbox",
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executable="async_slam_toolbox_node",
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name='slam_toolbox_node',
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output='screen',
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parameters=[
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slam_params_file,
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{'use_sim_time': use_sim_time}
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],
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#namespace = namespace,
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remappings=[('/scan', 'scan'), ('/map', 'map')],
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)
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return LaunchDescription([
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mapper_node
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]) |