X-lanni
118 lines
3.5 KiB
Python
118 lines
3.5 KiB
Python
import os
|
|
from launch import LaunchDescription
|
|
from launch.conditions import IfCondition
|
|
from launch_ros.actions import Node,PushRosNamespace
|
|
from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
|
|
from launch.substitutions import Command,LaunchConfiguration,PythonExpression
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
def include_lidar(pkg_name, launch_file, enable_lidar, lidar_type, expected_type):
|
|
|
|
return IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource(
|
|
os.path.join(
|
|
get_package_share_directory(pkg_name),
|
|
'launch',
|
|
launch_file
|
|
)
|
|
),
|
|
condition=IfCondition(
|
|
PythonExpression([
|
|
"'", enable_lidar, "' == 'true' and '",
|
|
lidar_type, "' == '", expected_type, "'"
|
|
])
|
|
)
|
|
)
|
|
|
|
def generate_launch_description():
|
|
|
|
port_name_arg = LaunchConfiguration('port_name')
|
|
namespace = LaunchConfiguration('namespace')
|
|
lidar_type = LaunchConfiguration('lidar_type')
|
|
enable_lidar = LaunchConfiguration('enable_lidar')
|
|
|
|
urdf_file = os.path.join(
|
|
get_package_share_directory('agv_pro_description'),
|
|
'urdf',
|
|
'agv_pro.urdf'
|
|
)
|
|
|
|
robot_description_content = Command([
|
|
'xacro ',
|
|
urdf_file,
|
|
' namespace:=',
|
|
PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
|
|
])
|
|
|
|
declare_port_name_arg = DeclareLaunchArgument(
|
|
'port_name',
|
|
default_value='/dev/agvpro_controller',
|
|
description='port name, e.g. /dev/ttyACM0'
|
|
)
|
|
|
|
declare_namespace_arg = DeclareLaunchArgument(
|
|
'namespace',
|
|
default_value='',
|
|
description='Namespace for nodes'
|
|
)
|
|
|
|
declare_enable_lidar_arg = DeclareLaunchArgument(
|
|
'enable_lidar',
|
|
default_value='true',
|
|
description='Whether to launch lidar drivers'
|
|
)
|
|
|
|
declare_lidar_type_arg = DeclareLaunchArgument(
|
|
'lidar_type',
|
|
default_value='n10p',
|
|
description='Lidar type: n10p | mid360 | l2'
|
|
)
|
|
|
|
ns_action = PushRosNamespace(namespace)
|
|
|
|
agv_pro_node = Node(
|
|
package='agv_pro_base',
|
|
executable='agv_pro_node',
|
|
name='agv_pro_node',
|
|
output='screen',
|
|
parameters=[{
|
|
'port_name': port_name_arg,
|
|
'namespace': namespace,
|
|
}],
|
|
remappings=[('cmd_vel', '/cmd_vel')]
|
|
)
|
|
|
|
joint_state_pub = Node(
|
|
package='joint_state_publisher',
|
|
executable='joint_state_publisher',
|
|
name='joint_state_publisher'
|
|
)
|
|
|
|
robot_state_pub = Node(
|
|
package='robot_state_publisher',
|
|
executable='robot_state_publisher',
|
|
name='robot_state_publisher',
|
|
parameters=[{'robot_description': robot_description_content}],
|
|
output='screen'
|
|
)
|
|
|
|
lidar_launchs = [
|
|
include_lidar('lslidar_driver', 'lsn10p_launch.py', enable_lidar, lidar_type, 'n10p'),
|
|
include_lidar('livox_ros_driver2', 'msg_MID360_launch.py',enable_lidar, lidar_type, 'mid360'),
|
|
include_lidar('unitree_lidar_ros2', 'launch.py', enable_lidar, lidar_type, 'l2'),
|
|
]
|
|
|
|
return LaunchDescription(
|
|
[
|
|
declare_port_name_arg,
|
|
declare_namespace_arg,
|
|
declare_enable_lidar_arg,
|
|
declare_lidar_type_arg,
|
|
ns_action,
|
|
agv_pro_node,
|
|
joint_state_pub,
|
|
robot_state_pub,
|
|
*lidar_launchs,
|
|
]
|
|
) |