47 lines
1.3 KiB
Python
47 lines
1.3 KiB
Python
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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, IncludeLaunchDescription, SetEnvironmentVariable
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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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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pkg_dir = get_package_share_directory('rasms_manipulator')
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namespace = LaunchConfiguration('namespace')
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Namespace')
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stdout_linebuf_envvar = SetEnvironmentVariable(
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'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
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move_1 = Node(
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package='plansys2_bt_actions',
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executable='bt_action_node',
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name='move_1',
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namespace=namespace,
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output='screen',
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parameters=[
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pkg_dir + '/config/params.yaml',
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{
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'action_name': 'move',
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'bt_xml_file': pkg_dir + '/behavior_trees_xml/move.xml'
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}
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])
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ld = LaunchDescription()
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ld.add_action(stdout_linebuf_envvar)
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ld.add_action(declare_namespace_cmd)
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# Declare the launch options
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ld.add_action(move_1)
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return ld
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