58 lines
2.0 KiB
Python
58 lines
2.0 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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ld = LaunchDescription()
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config = os.path.join(
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get_package_share_directory("multirobot_map_merge"), "config", "params.yaml"
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)
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use_sim_time = LaunchConfiguration("use_sim_time")
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namespace = LaunchConfiguration("namespace")
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known_init_poses = LaunchConfiguration("known_init_poses")
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declare_use_sim_time_argument = DeclareLaunchArgument(
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"use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
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)
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declare_namespace_argument = DeclareLaunchArgument(
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"namespace",
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default_value="/",
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description="Namespace for the explore node",
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)
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declare_known_init_poses_argument = DeclareLaunchArgument(
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"known_init_poses",
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default_value="True",
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description="Known initial poses of the robots. If so don't forget to declare them in the params.yaml file",
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)
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
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node = Node(
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package="multirobot_map_merge",
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name="map_merge",
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namespace=namespace,
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executable="map_merge",
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parameters=[
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config,
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{"use_sim_time": use_sim_time},
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{"known_init_poses": known_init_poses},
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],
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output="screen",
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remappings=remappings,
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)
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ld.add_action(declare_use_sim_time_argument)
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ld.add_action(declare_known_init_poses_argument)
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ld.add_action(declare_namespace_argument)
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ld.add_action(node)
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return ld
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