Added config to slambox
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parent
4d41485c47
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src
@ -25,6 +25,7 @@ def generate_launch_description():
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package_name='dcaiti_control' #<--- CHANGE ME
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use_ros2_control = LaunchConfiguration('use_ros2_control')
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world_path='~/.gazebo/models'
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rsp = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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@ -36,7 +37,7 @@ def generate_launch_description():
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
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launch_arguments={'params_file': gazebo_params_path}.items()
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launch_arguments={'params_file': gazebo_params_path, 'world': world_path }.items()
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)
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# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
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3
src/dcaitirobot/config/slam.yml
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3
src/dcaitirobot/config/slam.yml
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@ -0,0 +1,3 @@
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slam_toolbox:
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ros__parameters:
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base_frame: base_link
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32
src/dcaitirobot/launch/launch_slam.py
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32
src/dcaitirobot/launch/launch_slam.py
Normal file
@ -0,0 +1,32 @@
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import os
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from pathlib import Path
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python import get_package_share_directory
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def generate_launch_description():
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slam_params = os.path.join(
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get_package_share_directory('dcaitirobot'), # <-- Replace with your package name
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'config',
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'slam.yml'
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)
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print(slam_params)
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slam_toolbox = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('slam_toolbox'),'launch','online_async_launch.py'
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)]),
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launch_arguments={
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'use_sim_time': 'false',
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'slam_params_file': slam_params}.items()
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)
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return LaunchDescription([
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slam_toolbox
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])
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@ -12,7 +12,8 @@ setup(
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name), glob('launch/*.launch.py'))
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(os.path.join('share', package_name), glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'), glob('config/*.yml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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