/
navigation.launch.py
37 lines (29 loc) · 1.23 KB
/
navigation.launch.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
config_dir = os.path.join(get_package_share_directory('navigation_tb3'),'config')
map_file = os.path.join(config_dir,'tb3_map.yaml')
param_file = os.path.join(config_dir,'tb3_nav2_params.yaml')
rviz_config_dir = os.path.join(config_dir,'navigation.rviz')
return LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource([get_package_share_directory('turtlebot3_gazebo'),'/launch','/turtlebot3_dqn_stage4.launch.py'])
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([get_package_share_directory('nav2_bringup'),'/launch','/bringup_launch.py']),
launch_arguments={
'map':map_file,
'params_file': param_file}.items(),
),
Node(
package='rviz2',
executable='rviz2',
name='rviz2_node',
arguments=['-d', rviz_config_dir],
output='screen'
),
])