mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 15:45:08 +00:00
87 lines
3.2 KiB
Python
87 lines
3.2 KiB
Python
from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.substitutions import LaunchConfiguration, Command, FindExecutable, PathJoinSubstitution
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from launch.actions import DeclareLaunchArgument
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.descriptions import ParameterValue
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from launch_ros.actions import LifecycleNode
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import os
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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# joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
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# namespace = "/rmp"
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# joy_node = Node(
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# package='joy',
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# executable='joy_node',
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# parameters=[joy_params, {'use_sim_time': use_sim_time}],
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# namespace = namespace
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# )
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# teleop_node = Node(
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# package='rmp220_teleop',
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# executable='rmp220_teleop',
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# name='rmp220_teleop',
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# parameters=[joy_params, {'use_sim_time': use_sim_time}],
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# remappings=[('/cmd_vel', 'cmd_vel_joy')],
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# namespace = namespace
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# )
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# twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
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# twist_mux = Node(
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# package="twist_mux",
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# executable="twist_mux",
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# parameters=[twist_mux_params, {'use_sim_time': False}],
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# #remappings=[('cmd_vel_joy','/rmp/cmd_vel_joy')],
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# namespace = namespace
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# )
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# Using the more 'ROS' way: joy node publishes at 50Hz defined in the config and joy-teleop
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# node publishes the joy messages only when enable button is pressed.
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joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
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namespace = "/rmp"
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joy_node = Node(
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package='joy',
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executable='joy_node',
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parameters=[joy_params, {'use_sim_time': use_sim_time}],
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#namespace = namespace
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)
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teleop_node = Node(
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package='teleop_twist_joy',
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executable='teleop_node',
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name='teleop_twist_joy',
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parameters=[joy_params, {'use_sim_time': use_sim_time}],
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remappings=[('cmd_vel', 'cmd_vel_joy')],
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#namespace = namespace
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)
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twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
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twist_mux_node = Node(
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package="twist_mux",
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executable="twist_mux",
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parameters=[twist_mux_params, {'use_sim_time': False}],
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remappings=[('/cmd_vel_out','/cmd_vel_mux')]
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)
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rmp_teleop_node = Node(
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package='rmp220_teleop',
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executable='rmp220_teleop',
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name='rmp220_teleop',
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remappings=[('cmd_vel', 'cmd_vel_joy')],
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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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joy_node,
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teleop_node,
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#rmp_teleop_node,
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twist_mux_node
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]) |