forked from zbw/yiliao2026
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
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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from launch_ros.actions import Node
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def generate_launch_description():
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scan_topic = LaunchConfiguration('scan_topic')
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combined_odom_topic = LaunchConfiguration('combined_odom_topic')
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wall_config = LaunchConfiguration('wall_config')
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port = LaunchConfiguration('port')
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return LaunchDescription([
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DeclareLaunchArgument('scan_topic', default_value='/scan'),
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DeclareLaunchArgument('combined_odom_topic', default_value='/odom_combined'),
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DeclareLaunchArgument(
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'wall_config',
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default_value='/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json'),
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DeclareLaunchArgument('port', default_value='8772'),
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Node(
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package='origincar_base',
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executable='wall_preview_server',
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name='wall_preview_server',
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output='screen',
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parameters=[{
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'scan_topic': scan_topic,
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'combined_odom_topic': combined_odom_topic,
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'config_path': wall_config,
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'port': port,
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}],
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),
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])
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