29 lines
940 B
Python
29 lines
940 B
Python
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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str(Path(__file__).absolute().parent.parent), # <-- Replace with your package name
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'config',
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'slam.yml'
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)
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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': 'true',
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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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]) |