22 lines
735 B
Python
Executable File
22 lines
735 B
Python
Executable File
from launch import LaunchDescription
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from launch_ros.actions import Node
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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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rviz_config=get_package_share_directory('hesai_ros_driver')+'/rviz/rviz2.rviz'
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return LaunchDescription([
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Node(
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package='hesai_ros_driver',
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node_namespace='hesai_ros_driver',
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node_name='hesai_ros_driver_node',
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node_executable='hesai_ros_driver_node',
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output='screen'
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),
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Node(
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package='rviz2',
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node_namespace='rviz2',
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node_name='rviz2',
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node_executable='rviz2',
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arguments=['-d',rviz_config]
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)
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])
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