27 lines
699 B
Python
27 lines
699 B
Python
from launch import LaunchDescription
|
|
from launch.substitutions import PathJoinSubstitution
|
|
from launch_ros.actions import Node
|
|
from launch_ros.substitutions import FindPackageShare
|
|
|
|
from pathlib import Path
|
|
|
|
def generate_launch_description():
|
|
|
|
basedir = FindPackageShare("mg_bt")
|
|
|
|
bt_exec_config = PathJoinSubstitution([basedir, "config/mg_bt_executor.yaml"])
|
|
|
|
return LaunchDescription([
|
|
Node(
|
|
package='mg_bt',
|
|
executable='mg_bt_executor',
|
|
output="screen",
|
|
parameters=[bt_exec_config]
|
|
),
|
|
Node(
|
|
package='mg_planner',
|
|
executable='mg_planner',
|
|
output="screen"
|
|
),
|
|
])
|
|
|