43 lines
1.5 KiB
Python
43 lines
1.5 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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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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share = get_package_share_directory('origincar_birdseye')
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birdseye_config = os.path.join(
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share,
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'config',
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'birdseye_defaults.yaml')
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synthetic_config = os.path.join(share, 'config', 'offline_camera.yaml')
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birdseye_overrides = os.path.join(
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share, 'config', 'offline_birdseye_overrides.yaml')
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return LaunchDescription([
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DeclareLaunchArgument(
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'birdseye_config',
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default_value=birdseye_config,
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description='Birdseye node ROS parameter YAML'),
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DeclareLaunchArgument(
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'synthetic_config',
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default_value=synthetic_config,
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description='Synthetic image publisher ROS parameter YAML'),
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Node(
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package='origincar_birdseye',
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executable='synthetic_camera_node',
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name='synthetic_camera_node',
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output='screen',
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parameters=[LaunchConfiguration('synthetic_config')]),
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Node(
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package='origincar_birdseye',
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executable='birdseye_node',
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name='birdseye_node',
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output='screen',
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parameters=[
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LaunchConfiguration('birdseye_config'),
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birdseye_overrides]),
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])
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