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Make Rviz of nav2 and catographer optional

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This commit is contained in:
GyuH13 2025-01-20 15:07:56 +09:00
parent 1dc52cb5a4
commit f40ccddd92
2 changed files with 6 additions and 0 deletions
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3
turtlebot3_cartographer/launch/cartographer.launch.py
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@ -17,6 +17,7 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.conditions import IfCondition
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
@ -27,6 +28,7 @@ from launch.substitutions import ThisLaunchFileDir
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
use_rviz = LaunchConfiguration('use_rviz', default='true')
turtlebot3_cartographer_prefix = get_package_share_directory('turtlebot3_cartographer')
cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join(
turtlebot3_cartographer_prefix, 'config'))
@ -84,5 +86,6 @@ def generate_launch_description():
name='rviz2',
arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': use_sim_time}],
condition=IfCondition(use_rviz),
output='screen'),
])

3
turtlebot3_navigation2/launch/navigation2.launch.py
View File

@ -18,6 +18,7 @@ import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.conditions import IfCondition
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
@ -29,6 +30,7 @@ TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
use_rviz = LaunchConfiguration('use_rviz', default='true')
map_dir = LaunchConfiguration(
'map',
default=os.path.join(
@ -81,5 +83,6 @@ def generate_launch_description():
name='rviz2',
arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': use_sim_time}],
condition=IfCondition(use_rviz),
output='screen'),
])