37 lines
1.8 KiB
Python
37 lines
1.8 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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def generate_launch_description() -> LaunchDescription:
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return LaunchDescription([
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DeclareLaunchArgument('transport', default_value='udp'),
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DeclareLaunchArgument('server_addr', default_value=''),
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DeclareLaunchArgument('relay_via', default_value=''),
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DeclareLaunchArgument('peer_id', default_value='ros-bridge-ctrl'),
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DeclareLaunchArgument('expected_sender', default_value=''),
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DeclareLaunchArgument('output_topic', default_value='/hric/robot/cmd_vel'),
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DeclareLaunchArgument('frame_id', default_value='pelvis'),
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DeclareLaunchArgument('watchdog_timeout', default_value='0.5'),
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DeclareLaunchArgument('publish_rate_hz', default_value='100.0'),
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Node(
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package='udp_teleop_bridge',
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executable='udp_cmd_vel_receiver',
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name='udp_cmd_vel_receiver',
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output='screen',
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parameters=[{
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'transport': LaunchConfiguration('transport'),
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'server_addr': LaunchConfiguration('server_addr'),
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'relay_via': LaunchConfiguration('relay_via'),
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'peer_id': LaunchConfiguration('peer_id'),
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'expected_sender': LaunchConfiguration('expected_sender'),
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'output_topic': LaunchConfiguration('output_topic'),
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'frame_id': LaunchConfiguration('frame_id'),
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'watchdog_timeout': ParameterValue(LaunchConfiguration('watchdog_timeout'), value_type=float),
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'publish_rate_hz': ParameterValue(LaunchConfiguration('publish_rate_hz'), value_type=float),
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}],
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),
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])
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