joy to common

2026-06-22 15:00:26 +03:00
parent b7c0bac66a
commit be6398ba68
4 changed files with 45 additions and 12 deletions
@@ -78,6 +78,21 @@ def generate_launch_description():
        condition=IfCondition(LaunchConfiguration('start_rviz'))
    )

+
+    pkg_gen_location_on_mesh = FindPackageShare(package="").find("gen_locations_on_mesh")
+
+    mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "scene_init.ply"])
+
+    cache_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "cache.pkl"])
+
+    start_gen_location_on_mesh_cmd = Node(
+        name='gen_locations_on_mesh',
+        package='gen_locations_on_mesh',
+        executable='gen_locations_on_mesh',
+        parameters=[{'mesh_filename': mesh_path,
+                   'cache_filename': cache_path,
+                   'init_number_of_points': 100}])
+
    return LaunchDescription(
        launch_args
        + [
@@ -85,5 +100,6 @@ def generate_launch_description():
            #joy,
            fe_emulator,
            rviz,
+            start_gen_location_on_mesh_cmd,
        ]
    )