81 lines
2.4 KiB
Python
81 lines
2.4 KiB
Python
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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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# return LaunchDescription([
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# Node(
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# package='segwayrmp',
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# #namespace='turtlesim1',
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# executable='SmartCar',
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# name='SmartCar',
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# output='screen'
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# ),
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# Node(
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# package='joy',
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# #namespace='turtlesim2',
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# executable='joy_node',
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# name='joy_teleop',
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# output='screen'
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# ),
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# 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=[
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# # ('/input/pose', '/turtlesim1/turtle1/pose'),
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# # ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
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# # ]
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# output='screen'
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# )
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# ])
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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('rmp220_teleop'))
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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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)
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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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)
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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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#parameters=[joy_params, {'use_sim_time': use_sim_time}],
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#remappings=[('/cmd_vel','/cmd_vel_joy')]
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)
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# twist_stamper = Node(
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# package='twist_stamper',
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# executable='twist_stamper',
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# parameters=[{'use_sim_time': use_sim_time}],
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# remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
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# ('/cmd_vel_out','/diff_cont/cmd_vel')]
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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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control_node,
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# twist_stamper
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])
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