97 lines
3.7 KiB
Python
97 lines
3.7 KiB
Python
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# Copyright 2019 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# Author: Darby Lim
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import ThisLaunchFileDir
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from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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prefix = get_package_share_directory('gz_quadruped_playground')
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cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join(
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prefix, 'config', 'cartographer'))
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configuration_basename = LaunchConfiguration('configuration_basename',
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default='cartographer.lua')
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resolution = LaunchConfiguration('resolution', default='0.05')
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publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
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rviz_config_dir = os.path.join(prefix, 'config', 'cartographer', 'cartographer.rviz')
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return LaunchDescription([
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DeclareLaunchArgument(
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'cartographer_config_dir',
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default_value=cartographer_config_dir,
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description='Full path to config file to load'),
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DeclareLaunchArgument(
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'configuration_basename',
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default_value=configuration_basename,
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description='Name of lua file for cartographer'),
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use simulation (Gazebo) clock if true'),
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Node(
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package='cartographer_ros',
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executable='cartographer_node',
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name='cartographer_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-configuration_directory', cartographer_config_dir,
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'-configuration_basename', configuration_basename],
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remappings=[
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('/points2', '/scan/points'),
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# ('/points2_2', '/rgbd_d435/points'),
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('/imu', '/imu_sensor_broadcaster/imu'),
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]
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),
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DeclareLaunchArgument(
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'resolution',
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default_value=resolution,
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description='Resolution of a grid cell in the published occupancy grid'),
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DeclareLaunchArgument(
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'publish_period_sec',
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default_value=publish_period_sec,
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description='OccupancyGrid publishing period'),
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Node(
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package='cartographer_ros',
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executable='cartographer_occupancy_grid_node',
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name='cartographer_occupancy_grid_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec]),
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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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parameters=[{'use_sim_time': use_sim_time}]
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),
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])
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