apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
31 lines
1.3 KiB
Python
31 lines
1.3 KiB
Python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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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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return LaunchDescription([
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SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
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SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
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# Launch arguments
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DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
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DeclareLaunchArgument('image_topic', default_value='image', description='Image topic to subscribe to.'),
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DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
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DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
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# Nodes to launch
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Node(
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package='find_object_2d', executable='find_object_2d', output='screen',
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parameters=[{
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'gui':LaunchConfiguration('gui'),
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'objects_path':LaunchConfiguration('objects_path'),
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'settings_path':LaunchConfiguration('settings_path')
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}],
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remappings=[
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('image', LaunchConfiguration('image_topic'))]),
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])
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