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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(iw_hub_navigation) | ||
|
|
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| find_package(ament_cmake REQUIRED) | ||
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| install(DIRECTORY | ||
| launch | ||
| params | ||
| maps | ||
| rviz2 | ||
| DESTINATION share/${PROJECT_NAME}) | ||
|
|
||
| ament_package() |
58 changes: 58 additions & 0 deletions
58
foxy_ws/src/navigation/iw_hub_navigation/launch/iw_hub_navigation.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| ## Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved. | ||
| ## NVIDIA CORPORATION and its licensors retain all intellectual property | ||
| ## and proprietary rights in and to this software, related documentation | ||
| ## and any modifications thereto. Any use, reproduction, disclosure or | ||
| ## distribution of this software and related documentation without an express | ||
| ## license agreement from NVIDIA CORPORATION is strictly prohibited. | ||
|
|
||
| import os | ||
| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
|
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|
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| def generate_launch_description(): | ||
|
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| use_sim_time = LaunchConfiguration("use_sim_time", default="True") | ||
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| map_dir = LaunchConfiguration( | ||
| "map", | ||
| default=os.path.join( | ||
| get_package_share_directory("iw_hub_navigation"), "maps", "iw_hub_warehouse_navigation.yaml" | ||
| ), | ||
| ) | ||
|
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| param_dir = LaunchConfiguration( | ||
| "params_file", | ||
| default=os.path.join( | ||
| get_package_share_directory("iw_hub_navigation"), "params", "iw_hub_navigation_params.yaml" | ||
| ), | ||
| ) | ||
|
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| nav2_bringup_launch_dir = os.path.join(get_package_share_directory("nav2_bringup"), "launch") | ||
|
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| rviz_config_dir = os.path.join(get_package_share_directory("iw_hub_navigation"), "rviz2", "iw_hub_navigation.rviz") | ||
|
|
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| return LaunchDescription( | ||
| [ | ||
| DeclareLaunchArgument("map", default_value=map_dir, description="Full path to map file to load"), | ||
| DeclareLaunchArgument( | ||
| "params_file", default_value=param_dir, description="Full path to param file to load" | ||
| ), | ||
| DeclareLaunchArgument( | ||
| "use_sim_time", default_value="true", description="Use simulation (Omniverse Isaac Sim) clock if true" | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")), | ||
| launch_arguments={"namespace": "", "use_namespace": "False", "rviz_config": rviz_config_dir}.items(), | ||
| ), | ||
| IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([nav2_bringup_launch_dir, "/bringup_launch.py"]), | ||
| launch_arguments={"map": map_dir, "use_sim_time": use_sim_time, "params_file": param_dir}.items(), | ||
| ), | ||
| ] | ||
| ) |
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