60 lines
1.8 KiB
Python
60 lines
1.8 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, LaunchConfiguration
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from launch_ros.actions import Node, LifecycleNode
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from launch_ros.substitutions import FindPackageShare
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import os
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def generate_launch_description():
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pkg_share = FindPackageShare("").find('toid_navigation')
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#default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf')
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params = os.path.join(pkg_share, 'params', 'toid_costmap_params.yaml')
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map = os.path.join(pkg_share, 'maps', 'mapb2_5cm.yaml')
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default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'conf.rviz')
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map_server = 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': map}]
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)
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costmap2d_node = Node(
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package='nav2_costmap_2d',
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executable='nav2_costmap_2d',
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name='global_costmap',
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output='screen',
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parameters=[params]
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)
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lifecycle_manager_node = Node(
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package='nav2_lifecycle_manager',
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executable='lifecycle_manager',
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name='lifecycle_manager',
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output='screen',
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parameters=[params]
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', default_rviz_config_path]
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)
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return LaunchDescription([
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map_server,
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costmap2d_node,
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lifecycle_manager_node,
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Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='map_to_base_link_broadcaster',
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arguments=['0', '0', '0', '0', '0', '0', 'map', 'base_link']
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),
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rviz_node
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]) |