From ffa05ee4a56a5620b6d21346af6cf5019dccc367 Mon Sep 17 00:00:00 2001
From: SRai22 <shravansomashekara.rai@gmail.com>
Date: Tue, 30 Apr 2024 11:13:44 -0700
Subject: [PATCH] ros2 python launch file - wip

---
 .../launch/tps_astar_planner.launch.py        | 85 +++++++++++++++++++
 1 file changed, 85 insertions(+)
 create mode 100644 mrpt_tps_astar_planner/launch/tps_astar_planner.launch.py

diff --git a/mrpt_tps_astar_planner/launch/tps_astar_planner.launch.py b/mrpt_tps_astar_planner/launch/tps_astar_planner.launch.py
new file mode 100644
index 0000000..459bfe5
--- /dev/null
+++ b/mrpt_tps_astar_planner/launch/tps_astar_planner.launch.py
@@ -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
+    ])