commit

rasms_manipulator/launch/rasms_manipulation.launch.py

@@ -0,0 +1,47 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    pkg_dir = get_package_share_directory('rasms_manipulator')
+    namespace = LaunchConfiguration('namespace')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Namespace')
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+
+    move_1 = Node(
+        package='plansys2_bt_actions',
+        executable='bt_action_node',
+        name='move_1',
+        namespace=namespace,
+        output='screen',
+        parameters=[
+          pkg_dir + '/config/params.yaml',
+          {
+            'action_name': 'move',
+            'bt_xml_file': pkg_dir + '/behavior_trees_xml/move.xml'
+          }
+        ])
+    
+    ld = LaunchDescription()
+
+    ld.add_action(stdout_linebuf_envvar)
+    ld.add_action(declare_namespace_cmd)
+    
+    # Declare the launch options
+    ld.add_action(move_1)
+  
+    return ld