Bill Finger
e268a556b5
- Create a service node to provide information about available objects for picking - Update the Gazebo world with multiple shildik models arranged vertically - Add a laser sensor to the environment - Disable the bunker model inclusion
23 lines
744 B
Python
23 lines
744 B
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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executor_params = PathJoinSubstitution([FindPackageShare("rbs_mill_assist"), "config", "bt_executor.yaml"])
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nodes_to_start = [
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Node(
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package='rbs_bt_executor',
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executable='rbs_bt_executor',
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# prefix=['gdbserver localhost:1234'],
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parameters=[
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executor_params,
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{'use_sim_time': True}
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],
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)
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]
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return LaunchDescription(nodes_to_start)
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