online_sync_launch.py

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# Copyright 2021 RobosoftAI Inc.
#
# 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.
 
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
 
 
def generate_launch_description():
    use_sim_time = LaunchConfiguration("use_sim_time")
 
    declare_use_sim_time_argument = DeclareLaunchArgument(
        "use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
    )
 
    xtermprefix = "xterm -xrm 'XTerm*scrollBar:  true' -xrm 'xterm*rightScrollBar: true' -hold -geometry 1000x600 -sl 10000 -e"
 
    start_sync_slam_toolbox_node = Node(
        parameters=[
            get_package_share_directory("slam_toolbox") + "/config/mapper_params_online_sync.yaml",
            {"use_sim_time": use_sim_time},
        ],
        package="slam_toolbox",
        executable="sync_slam_toolbox_node",
        name="slam_toolbox",
        output="screen",
        prefix=xtermprefix,
    )
 
    ld = LaunchDescription()
 
    ld.add_action(declare_use_sim_time_argument)
    ld.add_action(start_sync_slam_toolbox_node)
 
    return ld