X-lanni
72 lines
2.2 KiB
Python
72 lines
2.2 KiB
Python
import os
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from launch import LaunchDescription
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from launch_ros.actions import Node,PushRosNamespace
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from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
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from launch.substitutions import Command,LaunchConfiguration,PythonExpression
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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port_name_arg = LaunchConfiguration('port_name',default='/dev/agvpro_controller')
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namespace = LaunchConfiguration('namespace', default='')
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urdf_file = os.path.join(
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get_package_share_directory('agv_pro_description'),
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'urdf',
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'agv_pro.urdf'
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)
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robot_description_content = Command([
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'xacro ',
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urdf_file,
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' namespace:=',
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PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
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])
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return LaunchDescription([
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DeclareLaunchArgument(
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'port_name',
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default_value=port_name_arg,
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description='port name, e.g. ttyACM0'),
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DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Namespace for nodes'),
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PushRosNamespace(namespace),
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Node(
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package='agv_pro_base',
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executable='agv_pro_node',
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name='agv_pro_node',
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output='screen',
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parameters=[{
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'port_name': port_name_arg,
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'namespace': namespace,
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}],
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remappings=[('cmd_vel', '/cmd_vel')]
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),
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher'
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),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description_content}],
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output='screen'
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('lslidar_driver'),'launch'),
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'/lsn10p_launch.py'])
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)
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])
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