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update slam_gmapping/slam_gmapping/launch/slam_gmapping.launch.py

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X-lanni
2025-06-11 16:21:16 +08:00
parent 6d2c1f6c85
commit fc020ceff9
1 changed files with 1 additions and 3 deletions
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slam_gmapping/slam_gmapping/launch/slam_gmapping.launch.py
+1 -3
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@@ -9,7 +9,6 @@ import launch_ros.actions
def generate_launch_description(): def generate_launch_description():
use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
rviz_config_dir = os.path.join( rviz_config_dir = os.path.join(
get_package_share_directory('slam_gmapping'), get_package_share_directory('slam_gmapping'),
@@ -18,14 +17,13 @@ def generate_launch_description():
return LaunchDescription([ return LaunchDescription([
launch_ros.actions.Node( launch_ros.actions.Node(
package='slam_gmapping', executable='slam_gmapping', output='screen', parameters=[{'use_sim_time':use_sim_time}]), package='slam_gmapping', executable='slam_gmapping', output='screen'),
launch_ros.actions.Node( launch_ros.actions.Node(
package='rviz2', package='rviz2',
executable='rviz2', executable='rviz2',
name='rviz2', name='rviz2',
arguments=['-d', rviz_config_dir], arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': use_sim_time}],
output='screen'), output='screen'),
]) ])