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2026-06-08 16:23:08 +08:00
parent ea7b0e13c7
commit e047c10277
6 changed files with 200 additions and 76 deletions
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1
src/ground_slam Submodule

Submodule src/ground_slam added at 287e3077d7

5
src/origincar_base/launch/robot_mode_description.launch.py
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@@ -8,13 +8,16 @@ from launch.actions import (DeclareLaunchArgument, GroupAction,LogInfo,
IncludeLaunchDescription, SetEnvironmentVariable)
from launch.substitutions import LaunchConfiguration
urdf_path = os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')
def generate_launch_description():
origincar_description = GroupAction([
launch_ros.actions.Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
arguments=[os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')]
parameters=[{'robot_description': open(urdf_path).read()}],
arguments=[]
)
])