50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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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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slam_params_file = LaunchConfiguration("slam_params_file")
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remappings = [
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("/map", "map"),
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("/scan", "scan"),
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("/tf", "tf"),
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("/tf_static", "tf_static"),
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]
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declare_use_sim_time_argument = DeclareLaunchArgument(
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"use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
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)
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declare_slam_params_file_cmd = DeclareLaunchArgument(
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"slam_params_file",
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default_value=os.path.join(
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get_package_share_directory("slam_toolbox"),
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"config",
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"mapper_params_online_sync.yaml",
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),
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description="Full path to the ROS2 parameters file to use for the slam_toolbox node",
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)
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start_sync_slam_toolbox_node = Node(
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parameters=[slam_params_file, {"use_sim_time": use_sim_time}],
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package="slam_toolbox",
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executable="sync_slam_toolbox_node",
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name="slam_toolbox",
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output="screen",
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remappings=remappings,
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)
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ld = LaunchDescription()
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ld.add_action(declare_use_sim_time_argument)
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ld.add_action(declare_slam_params_file_cmd)
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ld.add_action(start_sync_slam_toolbox_node)
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return ld
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