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71 lines
2.0 KiB
Python
71 lines
2.0 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import (
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PathJoinSubstitution,
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LaunchConfiguration,
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TextSubstitution,
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)
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.actions import Node
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from launch_ros.descriptions import ParameterFile
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def generate_launch_description():
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pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
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# Launch arguments
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launch_args = [
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DeclareLaunchArgument(
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"use_sim_time",
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description="Use clock from simulation",
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default_value="True",
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),
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DeclareLaunchArgument(
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"joy_model",
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description="Used joystick model (default is T-29)",
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default_value="T-29.yaml",
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),
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DeclareLaunchArgument(
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"namespace", default_value="sirius_bot", description="Top-level namespace"
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),
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]
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joy_config = PathJoinSubstitution([pkg_unity_robot_controller, "config", "joy_config.yaml"])
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model = LaunchConfiguration("joy_model")
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joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
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"config",
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model
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])
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joy_node = Node(
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package="joy",
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executable="joy_node",
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name="joy",
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namespace=LaunchConfiguration("namespace"),
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output="both",
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parameters=[
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ParameterFile(joy_config),
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],
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)
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joy_control_node = Node(
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package="unity_robot_controller",
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executable="joy_control_node",
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name="joy_control",
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namespace=LaunchConfiguration("namespace"),
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output="both",
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parameters=[
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ParameterFile(joy_params),
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{"fire_ext_max_capacity": 100},
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],
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)
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return LaunchDescription(
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launch_args
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+ [
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joy_node,
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joy_control_node,
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]
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)
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