70 lines
2.2 KiB
Python
70 lines
2.2 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_slam_toolbox_dir = get_package_share_directory('slam_toolbox')
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pkg_bcr = get_package_share_directory('bcr_bot')
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# Declare launch arguments
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use_sim_time = LaunchConfiguration('use_sim_time', default='True')
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autostart = LaunchConfiguration('autostart', default='True')
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declare_use_sim_time = DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use simulation (Gazebo) clock if true'
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)
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declare_autostart = DeclareLaunchArgument(
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'autostart',
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default_value='true',
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description='Automatically start the slam_toolbox stack'
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)
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# Include slam_toolbox launch file
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slam_toolbox_launch_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_slam_toolbox_dir, 'launch', 'online_async_launch.py')
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),
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launch_arguments={
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'use_sim_time': use_sim_time,
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'slam_params_file': os.path.join(pkg_bcr, 'config', 'mapper_params_online_async.yaml'),
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}.items()
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)
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# Launch RViz
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rviz_launch_cmd = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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arguments=[
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'-d', os.path.join(pkg_bcr, 'rviz', 'map.rviz')
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]
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)
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# Static transform publisher
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static_transform_publisher_node = Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='map_to_odom',
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output='screen',
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arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']
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)
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# Create launch description and add actions
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ld = LaunchDescription()
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ld.add_action(declare_use_sim_time)
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ld.add_action(declare_autostart)
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ld.add_action(slam_toolbox_launch_cmd)
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ld.add_action(rviz_launch_cmd)
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ld.add_action(static_transform_publisher_node)
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return ld
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