84 lines
2.5 KiB
Python
Executable File
84 lines
2.5 KiB
Python
Executable File
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
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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_nav2_dir = get_package_share_directory('nav2_bringup')
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pkg_bcr = get_package_share_directory('bcr_bot')
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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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nav2_launch_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_nav2_dir, 'launch', 'bringup_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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'autostart': autostart,
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'map': os.path.join(pkg_bcr, 'config', 'bcr_map.yaml'),
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'params_file': os.path.join(pkg_bcr, 'config', 'nav2_params.yaml'),
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'package_path': pkg_bcr,
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}.items()
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)
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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(
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get_package_share_directory('nav2_bringup'),
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'rviz',
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'nav2_default_view.rviz'
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)
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]
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)
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amcl_node = Node(
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package='nav2_amcl',
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executable='amcl',
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name='amcl',
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output='screen',
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parameters=[os.path.join(pkg_bcr, 'config', 'amcl_params.yaml')],
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)
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map_server_node = Node(
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package='nav2_map_server',
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executable='map_server',
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name='map_server',
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output='screen',
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parameters=[{'yaml_filename': os.path.join(pkg_bcr, 'config', 'bcr_map.yaml')}],
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)
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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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remapper_node = Node(
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package='bcr_bot',
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executable='remapper.py',
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name='remapper',
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output='screen',
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)
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ld = LaunchDescription()
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ld.add_action(nav2_launch_cmd)
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ld.add_action(rviz_launch_cmd)
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ld.add_action(amcl_node)
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ld.add_action(map_server_node)
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ld.add_action(static_transform_publisher_node)
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ld.add_action(remapper_node)
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return ld
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