64 lines
2.5 KiB
Python
64 lines
2.5 KiB
Python
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import os
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from launch import LaunchDescription
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# 定位到功能包的地址
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pkg_share = FindPackageShare(
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package='gc_slam_toolbox_fish').find('gc_slam_toolbox_fish')
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# =====================运行节点需要的配置=======================================================================
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# 是否使用仿真时间，我们用gazebo，这里设置成true
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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# 地图的分辨率
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resolution = LaunchConfiguration('resolution', default='0.05')
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# 地图的发布周期
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publish_period_sec = LaunchConfiguration(
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'publish_period_sec', default='1.0')
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# 配置文件夹路径
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configuration_directory = LaunchConfiguration(
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'configuration_directory', default=os.path.join(pkg_share, 'config'))
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# 配置文件
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configuration_basename = LaunchConfiguration(
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'configuration_basename', default='gc_2d.lua')
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rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
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print(f"rviz config in {rviz_config_dir}")
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# =====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
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cartographer_node = Node(
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package='cartographer_ros',
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executable='cartographer_node',
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name='cartographer_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-configuration_directory', configuration_directory,
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'-configuration_basename', configuration_basename])
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cartographer_occupancy_grid_node = Node(
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package='cartographer_ros',
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executable='cartographer_occupancy_grid_node',
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name='cartographer_occupancy_grid_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_dir],
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parameters=[{'use_sim_time': use_sim_time}],
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output='screen')
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# ===============================================定义启动文件========================================================
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ld = LaunchDescription()
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ld.add_action(cartographer_node)
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ld.add_action(cartographer_occupancy_grid_node)
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# ld.add_action(rviz_node)
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return ld
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