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https://github.com/bjoernellens1/cps_rmp220_support.git
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37 lines
1.1 KiB
Python
37 lines
1.1 KiB
Python
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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use_sim_time = False
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config_file = PathJoinSubstitution(
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[
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FindPackageShare("explore_lite"),
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"config",
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"params.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="explore_lite",
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executable="explore",
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name='explore_node',
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output='screen',
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parameters=[
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config_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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]) |