m5p3nc3r
ec554bcf2c
Uses the mecanum controller properly across physical and virtual There is a timing issue with i2c which is why the control update is limited to 10hz The sonar and LED's arent yet working, this will come soon.
49 lines
1.5 KiB
Python
49 lines
1.5 KiB
Python
import os
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from ament_index_python import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler, TimerAction
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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namespace = LaunchConfiguration('namespace')
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declared_args = [
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DeclareLaunchArgument(
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'namespace', default_value='',
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description='ROS namespace for all robot nodes (e.g. "robot1").'
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),
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]
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rviz_config_dir = os.path.join(
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get_package_share_directory('raspbot_v2_sim'),
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'rviz', 'raspbot_v2.rviz')
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bringup_robot = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('raspbot_v2_bringup'), 'launch', 'raspbot_v2_bringup.launch.py'
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])
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]),
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launch_arguments={
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'namespace': namespace,
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'use_sim_time': 'false',
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}.items()
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)
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return LaunchDescription([
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*declared_args,
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bringup_robot,
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Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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arguments=['-d', rviz_config_dir],
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output='screen',
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)
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]) |