Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
51 lines
1.5 KiB
Python
51 lines
1.5 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
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from launch.conditions import UnlessCondition
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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is_local_test = DeclareLaunchArgument(
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'local_test',
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default_value="False",
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description='Launch with simulated components'
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)
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return LaunchDescription([
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is_local_test,
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IncludeLaunchDescription(
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PathJoinSubstitution([
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FindPackageShare("mg_control"),
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'launch',
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'launch.py'
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]),
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launch_arguments={
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'local_test': LaunchConfiguration('local_test')
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}.items()
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),
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Node(
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package="mg_odometry",
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executable="mg_odom_publisher",
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name="mg_odom_publisher",
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condition=UnlessCondition(LaunchConfiguration('local_test')),
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parameters=[{
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'odom': "odom",
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'serial_path': "/dev/ttyACM0",
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}],
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emulate_tty=True,
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output='screen'
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),
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Node(
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package="mg_navigation",
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executable="mg_nav_server",
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name="mg_nav_server",
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emulate_tty=True,
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output='screen',
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)
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])
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