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view_diagnostics.launch.py
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view_diagnostics.launch.py
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# Copyright 2021 Clearpath Robotics, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# @author Roni Kreinin (rkreinin@clearpathrobotics.com)
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node, PushRosNamespace
ARGUMENTS = [
DeclareLaunchArgument(
'namespace',
default_value='',
description='Robot namespace'
),
]
def generate_launch_description():
namespace = LaunchConfiguration('namespace')
robot_monitor = GroupAction([
PushRosNamespace(namespace),
Node(package='rqt_robot_monitor',
executable='rqt_robot_monitor',
output='screen',
remappings=[('/diagnostics_agg', 'diagnostics_agg')])
])
ld = LaunchDescription(ARGUMENTS)
ld.add_action(robot_monitor)
return ld