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parametrised map file when launching navigation #12

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merged 1 commit into from
Dec 4, 2023
Merged

parametrised map file when launching navigation #12

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11 changes: 11 additions & 0 deletions src/limo_navigation/launch/limo_navigation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,15 @@ def generate_launch_description():
# Get the launch directory
launch_dir = os.path.join(
get_package_share_directory('limo_navigation'), 'launch')
maps_dir = os.path.join(
get_package_share_directory('limo_navigation'), 'maps')


# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_sim_time = LaunchConfiguration('use_sim_time')
autostart = LaunchConfiguration('autostart')
map_yaml_file = LaunchConfiguration('map')

lifecycle_nodes = [
'map_server',
Expand All @@ -39,6 +43,11 @@ def generate_launch_description():
'autostart', default_value='true',
description='Automatically startup the nav2 stack')

declare_map = DeclareLaunchArgument(
'map',
default_value=os.path.join(maps_dir, 'simple_map.yaml'),
description='Full path to map yaml file to load')

launch_limo_localization = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_dir, 'limo_localization.launch.py')),
Expand All @@ -47,6 +56,7 @@ def generate_launch_description():
'use_sim_time': use_sim_time,
'use_lifecycle_mgr': 'false',
'use_rviz': 'false',
'map': map_yaml_file,
}.items())

launch_limo_controller = IncludeLaunchDescription(
Expand Down Expand Up @@ -74,6 +84,7 @@ def generate_launch_description():
ld.add_action(declare_use_sim_time)
ld.add_action(declare_autostart)
ld.add_action(declare_namespace)
ld.add_action(declare_map)

ld.add_action(launch_limo_localization)
ld.add_action(launch_limo_controller)
Expand Down