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Launchcompatible with ros2 humble #14

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Launchcompatible with ros2 humble #14

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a8b964e
Update slam_gmapping.launch.py
GMHadou Apr 25, 2024
c2039e7
Merge pull request #1 from GMHadou/Ros2_Humble_Launch
GMHadou Apr 25, 2024
7a28970
Add files via upload
GMHadou Apr 29, 2024
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Binary file added Tutorial_Lidar_Tobias.odt
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15 changes: 9 additions & 6 deletions slam_gmapping/launch/slam_gmapping.launch.py
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Original file line number Diff line number Diff line change
@@ -1,12 +1,15 @@
from launch import LaunchDescription
from launch.substitutions import EnvironmentVariable
import launch.actions
import launch_ros.actions
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
return LaunchDescription([
launch_ros.actions.Node(
package='slam_gmapping', node_executable='slam_gmapping', output='screen', parameters=[{'use_sim_time':use_sim_time}]),
Node(
package='slam_gmapping',
executable='slam_gmapping',
output='screen',
parameters=[{'use_sim_time': use_sim_time}]
),
])