add ROS 2 launch scripts for starting the AGV Pro

2025-06-06 13:38:07 +08:00
parent d398ba0a22
commit 9187b9fb85
5 changed files with 107 additions and 16 deletions
@@ -0,0 +1,58 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    port_name_arg = LaunchConfiguration('port_name',default='ttyS0')
+    namespace = LaunchConfiguration('namespace', default='')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    with open(urdf_file, 'r') as file:
+        robot_description_content = file.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'port_name', 
+            default_value=port_name_arg,
+            description='port name, e.g. ttyS0'),
+
+        Node(
+            package='agv_pro_base',
+            executable='agv_pro_node',
+            name='agv_pro_node',
+            output='screen',
+            parameters=[{
+                'port_name': port_name_arg,
+                'namespace': namespace,             
+            }],
+        ),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{'robot_description': robot_description_content}]
+        ),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('lslidar_driver'),'launch'),
+                'lslidar_launch.py'])
+        )
+    ])