26 lines
747 B
Python
26 lines
747 B
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction
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from launch.event_handlers import OnProcessStart
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from pathlib import Path
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def generate_launch_description():
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basedir = FindPackageShare("mg_bt")
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yamlBT = PathJoinSubstitution([basedir, "config/mg_bt_executor_config.yaml"])
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return LaunchDescription([
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Node(
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package='mg_bt',
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executable='mg_bt_executor',
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output="screen",
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parameters=[yamlBT]
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),
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])
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