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Fix typos and add new launch file for large data use case (#187)
* Fix typos and add new launch file for large data use case Signed-off-by: Irene Bandera <[email protected]> * Apply changes Signed-off-by: Irene Bandera <[email protected]> --------- Signed-off-by: Irene Bandera <[email protected]>
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resources/py/rosbotxl_astra_navigation_mapping_launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,122 @@ | ||
| # Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import ( | ||
| GroupAction, | ||
| IncludeLaunchDescription, | ||
| TimerAction, | ||
| ) | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import PathJoinSubstitution | ||
|
|
||
| from ament_index_python.packages import get_package_share_directory | ||
|
|
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| def generate_launch_description(): | ||
|
|
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| # Specify the actions | ||
| bringup_cmd_group = GroupAction( | ||
| [ | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| get_package_share_directory('rosbot_xl_bringup'), | ||
| 'launch', | ||
| 'bringup.launch.py', | ||
| ]) | ||
| ), | ||
| launch_arguments={ | ||
| 'mecanum': 'True', | ||
| }.items(), | ||
| ), | ||
|
|
||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| get_package_share_directory('sllidar_ros2'), | ||
| 'launch', | ||
| 'sllidar_launch.py', | ||
| ]) | ||
| ), | ||
| launch_arguments={ | ||
| 'serial_baudrate': '115200', | ||
| 'serial_port': '/dev/ttyRPLIDAR', | ||
| }.items(), | ||
| ), | ||
|
|
||
| TimerAction( | ||
| period=3.0, | ||
| actions=[ | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| get_package_share_directory('nav2_bringup'), | ||
| 'launch', | ||
| 'slam_launch.py', | ||
| ]) | ||
| ), | ||
| launch_arguments={ | ||
| 'map': '/maps/map.yaml', | ||
| 'use_sim_time': 'False', | ||
| 'params_file': '/home/husarion/ros2_ws/config/nav2_params.yaml', | ||
| }.items(), | ||
| ), | ||
| ] | ||
| ), | ||
|
|
||
| TimerAction( | ||
| period=3.5, | ||
| actions=[ | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| get_package_share_directory('nav2_bringup'), | ||
| 'launch', | ||
| 'navigation_launch.py', | ||
| ]) | ||
| ), | ||
| launch_arguments={ | ||
| 'use_sim_time': 'False', | ||
| 'params_file': '/home/husarion/ros2_ws/config/nav2_rpp_params.yaml', | ||
| }.items(), | ||
| ), | ||
| ] | ||
| ), | ||
|
|
||
| TimerAction( | ||
| period=5.0, | ||
| actions=[ | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| PathJoinSubstitution([ | ||
| get_package_share_directory('astra_camera'), | ||
| 'launch', | ||
| 'astra_mini.launch.py', | ||
| ]) | ||
| ), | ||
| ), | ||
| ] | ||
| ), | ||
| ] | ||
| ) | ||
|
|
||
| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
|
|
||
| # Add the actions to launch all of the nodes | ||
| ld.add_action(bringup_cmd_group) | ||
|
|
||
| return ld |