online_sync_launch Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def online_sync_launch.generate_launch_description

(

)

Definition at line 25 of file online_sync_launch.py.

def generate_launch_description():
    use_sim_time = LaunchConfiguration("use_sim_time")
    slam_params_file = LaunchConfiguration("slam_params_file")
 
    declare_use_sim_time_argument = DeclareLaunchArgument(
        "use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
    )
    declare_slam_params_file_cmd = DeclareLaunchArgument(
        "slam_params_file",
        default_value=os.path.join(
            get_package_share_directory("sm_aws_warehouse_navigation"),
            "params",
            "mapper_params_online_sync.yaml",
        ),
        description="Full path to the ROS2 parameters file to use for the slam_toolbox node",
    )
 
    start_sync_slam_toolbox_node = Node(
        parameters=[slam_params_file, {"use_sim_time": use_sim_time}],
        package="slam_toolbox",
        executable="sync_slam_toolbox_node",
        name="slam_toolbox",
        output="screen",
    )
 
    ld = LaunchDescription()
 
    ld.add_action(declare_use_sim_time_argument)
    ld.add_action(declare_slam_params_file_cmd)
    ld.add_action(start_sync_slam_toolbox_node)
 
    return ld