From 481087197f4fef41c5e521d6aefc50c0b5b437fb Mon Sep 17 00:00:00 2001
From: Tim Korjakow <you@example.com>
Date: Sun, 9 Jul 2023 16:36:43 +0800
Subject: [PATCH] Added config to slambox
---
src/dcaiti_control/launch/launch_sim.py | 3 ++-
src/dcaitirobot/config/slam.yml | 3 +++
src/dcaitirobot/launch/launch_slam.py | 32 +++++++++++++++++++++++++
src/dcaitirobot/setup.py | 3 ++-
4 files changed, 39 insertions(+), 2 deletions(-)
create mode 100644 src/dcaitirobot/config/slam.yml
create mode 100644 src/dcaitirobot/launch/launch_slam.py
diff --git a/src/dcaiti_control/launch/launch_sim.py b/src/dcaiti_control/launch/launch_sim.py
index 30bbc90..670d343 100644
--- a/src/dcaiti_control/launch/launch_sim.py
+++ b/src/dcaiti_control/launch/launch_sim.py
@@ -25,6 +25,7 @@ def generate_launch_description():
package_name='dcaiti_control' #<--- CHANGE ME
use_ros2_control = LaunchConfiguration('use_ros2_control')
+ world_path='~/.gazebo/models'
rsp = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
@@ -36,7 +37,7 @@ def generate_launch_description():
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
- launch_arguments={'params_file': gazebo_params_path}.items()
+ launch_arguments={'params_file': gazebo_params_path, 'world': world_path }.items()
)
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
diff --git a/src/dcaitirobot/config/slam.yml b/src/dcaitirobot/config/slam.yml
new file mode 100644
index 0000000..d17dee9
--- /dev/null
+++ b/src/dcaitirobot/config/slam.yml
@@ -0,0 +1,3 @@
+slam_toolbox:
+ ros__parameters:
+ base_frame: base_link
\ No newline at end of file
diff --git a/src/dcaitirobot/launch/launch_slam.py b/src/dcaitirobot/launch/launch_slam.py
new file mode 100644
index 0000000..daf9f3d
--- /dev/null
+++ b/src/dcaitirobot/launch/launch_slam.py
@@ -0,0 +1,32 @@
+import os
+from pathlib import Path
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+
+ slam_params = os.path.join(
+ get_package_share_directory('dcaitirobot'), # <-- Replace with your package name
+ 'config',
+ 'slam.yml'
+ )
+
+ print(slam_params)
+
+ slam_toolbox = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource([os.path.join(
+ get_package_share_directory('slam_toolbox'),'launch','online_async_launch.py'
+ )]),
+ launch_arguments={
+ 'use_sim_time': 'false',
+ 'slam_params_file': slam_params}.items()
+ )
+
+ return LaunchDescription([
+ slam_toolbox
+ ])
\ No newline at end of file
diff --git a/src/dcaitirobot/setup.py b/src/dcaitirobot/setup.py
index 11908f7..c439b80 100644
--- a/src/dcaitirobot/setup.py
+++ b/src/dcaitirobot/setup.py
@@ -12,7 +12,8 @@ setup(
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
- (os.path.join('share', package_name), glob('launch/*.launch.py'))
+ (os.path.join('share', package_name), glob('launch/*.py')),
+ (os.path.join('share', package_name, 'config'), glob('config/*.yml')),
],
install_requires=['setuptools'],
zip_safe=True,