36 lines
997 B
Python
36 lines
997 B
Python
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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_bt"),
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'launch',
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'launch.py'
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]),
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),
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Node(
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package="mg_planner",
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executable="mg_planner",
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name="mg_planner",
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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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