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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch.substitutions import Command | ||
| from ament_index_python.packages import get_package_share_directory | ||
|
|
||
| def generate_launch_description(): | ||
| # Declare launch arguments | ||
| nav_goal = DeclareLaunchArgument( | ||
| 'nav_goal', default_value='[0.0, 0.0, 0.0]', | ||
| description='Navigation goal position') | ||
| start_pose = DeclareLaunchArgument( | ||
| 'start_pose', default_value='[0.0, 0.0, 0.0]', | ||
| description='Starting pose') | ||
| start_vel = DeclareLaunchArgument( | ||
| 'start_vel', default_value='[0.0, 0.0, 0.0]', | ||
| description='Starting velocity') | ||
| mrpt_gui = DeclareLaunchArgument( | ||
| 'mrpt_gui', default_value='false', | ||
| description='Enable MRPT GUI') | ||
| topic_map_sub = DeclareLaunchArgument( | ||
| 'topic_map_sub', default_value='map', | ||
| description='Map subscription topic') | ||
| topic_localization_sub = DeclareLaunchArgument( | ||
| 'topic_localization_sub', default_value='/mrpt_pose', | ||
| description='Localization subscription topic') | ||
| topic_odometry_sub = DeclareLaunchArgument( | ||
| 'topic_odometry_sub', default_value='odom', | ||
| description='Odometry subscription topic') | ||
| topic_obstacles_sub = DeclareLaunchArgument( | ||
| 'topic_obstacles_sub', default_value='/map_pointcloud', | ||
| description='Obstacles subscription topic') | ||
| topic_replan_sub = DeclareLaunchArgument( | ||
| 'topic_replan_sub', default_value='/replan', | ||
| description='Replan subscription topic') | ||
| topic_cmd_vel_pub = DeclareLaunchArgument( | ||
| 'topic_cmd_vel_pub', default_value='/enq_motion', | ||
| description='Command velocity publish topic') | ||
| topic_wp_seq_pub = DeclareLaunchArgument( | ||
| 'topic_wp_seq_pub', default_value='/waypoints', | ||
| description='Waypoints sequence publish topic') | ||
|
|
||
| # Node configuration | ||
| tps_astar_nav_node = Node( | ||
| package='mrpt_tps_astar_planner', | ||
| executable='mrpt_tps_astar_planner_node', | ||
| name='mrpt_tps_astar_planner_node', | ||
| output='screen', | ||
| parameters=[ | ||
| get_package_share_directory('mrpt_tps_astar_planner') + '/configs/params/planner-params.yaml', | ||
| get_package_share_directory('mrpt_tps_astar_planner') + '/configs/params/costmap-obstacles.yaml', | ||
| get_package_share_directory('mrpt_tps_astar_planner') + '/configs/params/nav-engine-params.yaml', | ||
| get_package_share_directory('mrpt_tps_astar_planner') + '/configs/params/costmap-obstacles.yaml', | ||
| get_package_share_directory('mrpt_tps_astar_planner') + '/configs/params/costmap-prefer-waypoints.yaml', | ||
| get_package_share_directory('mrpt_tps_astar_planner') + '/configs/ini/ptgs_jackal.ini', | ||
| {'nav_goal': LaunchConfiguration('nav_goal')}, | ||
| {'start_pose': LaunchConfiguration('start_pose')}, | ||
| {'start_vel': LaunchConfiguration('start_vel')}, | ||
| {'mrpt_gui': LaunchConfiguration('mrpt_gui')}, | ||
| {'topic_map_sub': LaunchConfiguration('topic_map_sub')}, | ||
| {'topic_localization_sub': LaunchConfiguration('topic_localization_sub')}, | ||
| {'topic_odometry_sub': LaunchConfiguration('topic_odometry_sub')}, | ||
| {'topic_obstacles_sub': LaunchConfiguration('topic_obstacles_sub')}, | ||
| {'topic_replan_sub': LaunchConfiguration('topic_replan_sub')}, | ||
| {'topic_cmd_vel_pub': LaunchConfiguration('topic_cmd_vel_pub')}, | ||
| {'topic_wp_seq_pub': LaunchConfiguration('topic_wp_seq_pub')} | ||
| ] | ||
| ) | ||
|
|
||
| # Launch description | ||
| return LaunchDescription([ | ||
| nav_goal, | ||
| start_pose, | ||
| start_vel, | ||
| mrpt_gui, | ||
| topic_map_sub, | ||
| topic_localization_sub, | ||
| topic_odometry_sub, | ||
| topic_obstacles_sub, | ||
| topic_replan_sub, | ||
| topic_cmd_vel_pub, | ||
| topic_wp_seq_pub, | ||
| tps_astar_nav_node | ||
| ]) |