26 lines
736 B
Python
26 lines
736 B
Python
#!/usr/bin/env python3
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# 获取参数文件路径
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pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
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params_file = os.path.join(
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pkg_share, 'config', 'mapper_params_lifelong.yaml')
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# 创建SLAM Toolbox节点
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slam_toolbox_node = Node(
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package='slam_toolbox',
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executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node
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name='slam_toolbox',
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output='screen',
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parameters=[params_file]
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)
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return LaunchDescription([
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slam_toolbox_node
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])
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