| 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(): |
| |
| nav2_bringup_dir = get_package_share_directory('nav2_bringup') |
|
|
| |
| 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' |
| ), |
| ]) |
|
|
