update demo_8

demo_launch/8_waypoint_nav.launch.py

@@ -0,0 +1,61 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+
+    map_file = os.path.join(
+    get_package_share_directory('wpr_simulation2'),
+        'maps',
+        'map.yaml'
+    )
+
+    nav_param_file = os.path.join(
+    get_package_share_directory('wpr_simulation2'),
+        'config',
+        'nav2_params.yaml'
+    )
+
+    nav2_launch_dir = os.path.join(
+        get_package_share_directory('nav2_bringup'),
+        'launch'
+    )
+
+    navigation_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([nav2_launch_dir, '/bringup_launch.py']),
+        launch_arguments={
+            'map': map_file,
+            'use_sim_time': 'True',
+            'params_file': nav_param_file}.items(),
+    )
+
+    rviz_file = os.path.join(get_package_share_directory('wp_map_tools'), 'rviz', 'navi.rviz')
+    rviz_cmd = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_file]
+    )
+
+    wp_edit_cmd = Node(
+        package='wp_map_tools',
+        executable='wp_edit_node',
+        name='wp_edit_node'
+    )
+
+    wp_navi_server_cmd = Node(
+        package='wp_map_tools',
+        executable='wp_navi_server',
+        name='wp_navi_server'
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(navigation_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(wp_edit_cmd)
+    ld.add_action(wp_navi_server_cmd)
+
+    return ld