mirror of
https://github.com/6-robot/wpr_simulation2.git
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84 lines
2.6 KiB
Python
84 lines
2.6 KiB
Python
#!/usr/bin/env python3
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#
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# Copyright 2023 6-robot.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# Authors: Zhang Wanjie
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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launch_file_dir = os.path.join(get_package_share_directory('wpr_simulation2'), 'launch')
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home_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'robocup_home.launch.py')
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)
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)
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behavior_tree = os.path.join(
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get_package_share_directory('wpr_simulation2'),
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'config',
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'behavior_tree.xml'
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)
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map_file = os.path.join(
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get_package_share_directory('wpr_simulation2'),
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'maps',
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'map.yaml'
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)
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nav_param_file = os.path.join(
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get_package_share_directory('wpr_simulation2'),
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'config',
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'nav2_params.yaml'
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)
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nav2_launch_dir = os.path.join(
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get_package_share_directory('nav2_bringup'),
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'launch'
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)
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navigation_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([nav2_launch_dir, '/bringup_launch.py']),
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launch_arguments={
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'map': map_file,
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'use_sim_time': use_sim_time,
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'params_file': nav_param_file}.items(),
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)
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rviz_cmd = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', [os.path.join(get_package_share_directory('wpr_simulation2'), 'rviz', 'navi.rviz')]]
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)
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ld = LaunchDescription()
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# Add the commands to the launch description
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ld.add_action(home_cmd)
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ld.add_action(navigation_cmd)
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ld.add_action(rviz_cmd)
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return ld
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