works on robot

2026-06-24 14:17:57 +03:00
parent f208bf4169
commit f5af1211fd
5 changed files with 80 additions and 9 deletions
@@ -0,0 +1,67 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "joy_model",
+            description="Used joystick model (default is T-29)",
+            default_value="T-29.yaml",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="sirius_bot", description="Top-level namespace"
+        ),
+        # DeclareLaunchArgument(
+        #     "start_rviz", default_value="True", description="Use basic rviz"
+        # ),
+    ]
+
+    joy_config = PathJoinSubstitution([pkg_unity_robot_controller, "config", "joy_config.yaml"])
+
+    model = LaunchConfiguration("joy_model")
+    joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
+                                       "config",
+                                       model
+                                       ])
+
+    joy_node = Node(
+        package="joy",
+        executable="joy_node",
+        name="joy",
+        namespace=LaunchConfiguration("namespace"),
+        output="both",
+        parameters=[
+            ParameterFile(joy_config),
+        ],
+    )
+
+    joy_wave_rover_controller_node = Node(
+        package="wave_rover_controller",
+        executable="joy_control_node",
+        name="joy_control",
+        # output="screen",
+        namespace=LaunchConfiguration("namespace"),
+        parameters=[
+            ParameterFile(joy_params),
+            {'serial_port': '/dev/ttyUSB0'}]
+    )
+
+
+    return LaunchDescription(
+        launch_args
+        + [
+            joy_node,
+            joy_wave_rover_controller_node,
+            ]
+    )