X-lanni
59 lines
2.1 KiB
Python
59 lines
2.1 KiB
Python
"""
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Copyright 2018 The Cartographer Authors
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Copyright 2022 Wyca Robotics (for the ros2 conversion)
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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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http://www.apache.org/licenses/LICENSE-2.0
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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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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node, SetRemap
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from launch_ros.substitutions import FindPackageShare
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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import os
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def generate_launch_description():
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## ***** Launch arguments *****
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use_sim_time_arg = DeclareLaunchArgument('use_sim_time', default_value = 'False')
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cartographer_node = Node(
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package = 'cartographer_ros',
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executable = 'cartographer_node',
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parameters = [{'use_sim_time': LaunchConfiguration('use_sim_time')}],
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arguments = [
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'-configuration_directory', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files',
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'-configuration_basename', 'taurob_tracker.lua'],
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remappings = [
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('scan', '/spin_laser/scan'),
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('imu', '/imu/data')],
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output = 'screen'
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)
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cartographer_occupancy_grid_node = Node(
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package = 'cartographer_ros',
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executable = 'cartographer_occupancy_grid_node',
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parameters = [
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{'use_sim_time': LaunchConfiguration('use_sim_time')},
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{'resolution': 0.05}],
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)
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return LaunchDescription([
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use_sim_time_arg,
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# Nodes
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cartographer_node,
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cartographer_occupancy_grid_node,
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])
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