ROS2-SLAM-Fundamental/explore/launch/explore.launch.py

47 lines
1.6 KiB
Python

import os
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
ld = LaunchDescription()
config = os.path.join(
get_package_share_directory("explore_lite"), "config", "params.yaml"
)
use_sim_time = LaunchConfiguration("use_sim_time")
namespace = LaunchConfiguration("namespace")
declare_use_sim_time_argument = DeclareLaunchArgument(
"use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
)
declare_namespace_argument = DeclareLaunchArgument(
"namespace",
default_value="",
description="Namespace for the explore node",
)
# Map fully qualified names to relative ones so the node's namespace can be prepended.
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
# https://github.com/ros/geometry2/issues/32
# https://github.com/ros/robot_state_publisher/pull/30
remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
node = Node(
package="explore_lite",
name="explore_node",
namespace=namespace,
executable="explore",
parameters=[config, {"use_sim_time": use_sim_time}],
output="screen",
remappings=remappings,
)
ld.add_action(declare_use_sim_time_argument)
ld.add_action(declare_namespace_argument)
ld.add_action(node)
return ld