X-lanni
89 lines
2.7 KiB
Python
89 lines
2.7 KiB
Python
# Copyright 2025 Lihan Chen
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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SetEnvironmentVariable,
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)
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory("pcd2pgm")
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# Create the launch configuration variables``
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params_file = LaunchConfiguration("params_file")
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rviz_config_file = LaunchConfiguration("rviz_config_file")
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stdout_linebuf_envvar = SetEnvironmentVariable(
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"RCUTILS_LOGGING_BUFFERED_STREAM", "1"
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)
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colorized_output_envvar = SetEnvironmentVariable("RCUTILS_COLORIZED_OUTPUT", "1")
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declare_params_file_cmd = DeclareLaunchArgument(
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"params_file",
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default_value=os.path.join(bringup_dir, "config", "pcd2pgm.yaml"),
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description="Full path to the ROS2 parameters file to use for all launched nodes",
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)
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declare_rviz_config_file_cmd = DeclareLaunchArgument(
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"rviz_config_file",
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default_value=os.path.join(bringup_dir, "rviz", "pcd2pgm.rviz"),
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description="Full path to the RVIZ config file to use",
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)
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start_pcd2pgm_cmd = Node(
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package="pcd2pgm",
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executable="pcd2pgm_node",
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name="pcd2pgm",
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output="screen",
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parameters=[params_file],
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)
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start_rviz_cmd = Node(
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package="rviz2",
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executable="rviz2",
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arguments=["-d", rviz_config_file],
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output="screen",
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remappings=[
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("/tf", "tf"),
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("/tf_static", "tf_static"),
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],
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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ld.add_action(colorized_output_envvar)
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# Declare the launch options
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_rviz_config_file_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(start_pcd2pgm_cmd)
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ld.add_action(start_rviz_cmd)
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return ld
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