mirror of
https://github.com/modelec/ros2_roboclaw_driver.git
synced 2026-01-18 16:47:26 +01:00
55 lines
2.0 KiB
Python
55 lines
2.0 KiB
Python
import os
|
|
import yaml
|
|
|
|
from ament_index_python.packages import get_package_share_directory
|
|
from launch import LaunchDescription
|
|
import launch_ros.actions
|
|
from launch_ros.actions import Node
|
|
|
|
def generate_launch_description():
|
|
# The following 'my_package_name' should be changed to the
|
|
# package name in your robot workspace that will contain
|
|
# your own yaml configuration file.
|
|
#
|
|
# Also the 'motor_driver.yaml' should be changed to the yaml
|
|
# configuration file name in your robot package. The example
|
|
# launch file here assumes that your configuration file will
|
|
# be under the 'config' directory within the my_package_name
|
|
# folder.
|
|
#
|
|
# The name 'ros2_roboclaw_driver'
|
|
# here will point to this workspace and its example configuration
|
|
# file which is unlikely to work out-of-the-box for your hardware
|
|
# so it is expected that your will also create a yaml file to
|
|
# match your hardware. See the README file for more information.
|
|
|
|
my_package_name = 'ros2_roboclaw_driver'
|
|
configFilePath = os.path.join(
|
|
get_package_share_directory(my_package_name),
|
|
'config',
|
|
'motor_driver.yaml'
|
|
)
|
|
|
|
# Extract the relevant configuration parameters from the yaml file.
|
|
# Doing it this way allows you, for example, to include the configuration
|
|
# parameters in a larger yaml file that also provides parameters for
|
|
# other packages. See the example yaml file provided and the README
|
|
# file for more information.
|
|
|
|
with open(configFilePath, 'r') as file:
|
|
configParams = yaml.safe_load(file)['motor_driver_node']['ros__parameters']
|
|
|
|
ld = LaunchDescription()
|
|
|
|
# The 'emulate_tty' here helps colorize the log output to the console
|
|
motor_driver_node = Node(
|
|
emulate_tty=True,
|
|
executable='ros2_roboclaw_driver_node',
|
|
package='ros2_roboclaw_driver',
|
|
parameters=[configParams],
|
|
#prefix=['xterm -e gdb -ex run --args'],
|
|
respawn=True,
|
|
output='screen')
|
|
ld.add_action(motor_driver_node)
|
|
return ld
|