File size: 1,699 Bytes
9869d0d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | import os
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
# Package Paths
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
params_file = LaunchConfiguration('params_file', default=os.path.join(
NAME_OF_YOUR_PKG, 'params', 'nav2_params.yaml'))
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='true',
description='Use simulation clock if true'),
DeclareLaunchArgument(
'params_file',
default_value=params_file,
description='Full path to param file to load'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py')
),
launch_arguments={
'use_sim_time': use_sim_time,
'params_file': params_file,
'autostart': 'false'
}.items(),
),
Node(
package='NAME_OF_YOUR_PKG',
executable='follow_route',
name='follow_route',
parameters=[{
'use_sim_time': True
}],
output='screen'
),
])
|