From 8ca221c958e260e44f4f40b08f180c5e35bd7401 Mon Sep 17 00:00:00 2001 From: Aldokan Date: Sun, 5 Nov 2023 13:00:43 +0100 Subject: [PATCH] Update thruster_allocator_launch.py so that it takes in params from freya.yaml --- .../launch/thruster_allocator_launch.py | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/motion/thruster_allocator/launch/thruster_allocator_launch.py b/motion/thruster_allocator/launch/thruster_allocator_launch.py index 731f9a1e..3e08ca13 100644 --- 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', ) - ]) \ No newline at end of file + return LaunchDescription([ + trushter_allocator_node + ])