39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
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#用法: ros2 launch odin_ros_driver odin1_ros2.launch.py
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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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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# 获取包目录
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package_dir = get_package_share_directory('odin_ros_driver')
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# 声明配置参数
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config_file_arg = DeclareLaunchArgument(
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'config_file',
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default_value=os.path.join(package_dir, 'config', 'control_command.yaml'),
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description='Path to the control config YAML file'
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)
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# 创建节点
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host_sdk_node = Node(
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package='odin_ros_driver',
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executable='host_sdk_sample',
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name='host_sdk_sample',
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output='screen',
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# arguments=['--ros-args', '--log-level', 'debug'],
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parameters=[{
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'config_file': LaunchConfiguration('config_file')
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}]
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)
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# 创建启动描述
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ld = LaunchDescription()
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ld.add_action(config_file_arg)
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ld.add_action(host_sdk_node)
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return ld
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