Update thruster_allocator_launch.py so that it takes in params from f…

…reya.yaml
vortexntnu · Nov 5, 2023 · 8ca221c · 8ca221c
1 parent 58adb7a
commit 8ca221c
Showing 1 changed file with 9 additions and 4 deletions.
diff --git a/motion/thruster_allocator/launch/thruster_allocator_launch.py b/motion/thruster_allocator/launch/thruster_allocator_launch.py
@@ -1,11 +1,16 @@
+import os
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
 def generate_launch_description():
-    return LaunchDescription([
-        Node(
+    trushter_allocator_node = Node(
             package='thruster_allocator',
             executable='thruster_allocator_node',
-            name='thruster_allocator_node'
+            name='thruster_allocator_node',
+            parameters=[os.path.join(get_package_share_directory('asv_setup'),'config','robots','freya.yaml')],
+            output='screen',
         )
-    ])
+    return LaunchDescription([
+        trushter_allocator_node
+    ])