@小鱼 launch文件
import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
def generate_launch_description():
# 定位到功能包的地址
pkg_share = FindPackageShare(package='fishbot_cartographer').find('fishbot_cartographer')
#=====================运行节点需要的配置=======================================================================
# 是否使用仿真时间,我们用gazebo,这里设置成true
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
# 地图的分辨率
resolution = LaunchConfiguration('resolution', default='0.05')
# 地图的发布周期
publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
# 配置文件夹路径
configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
# 配置文件
configuration_basename = LaunchConfiguration('configuration_basename', default='cartographer_slam.lua')
urdf_dir = os.path.join(pkg_share, 'urdf')
urdf_file = os.path.join(urdf_dir, 'jzdbot_base.urdf')
with open(urdf_file, 'r') as infp:
robot_desc = infp.read()
#=====================声明三个节点,cartographer/occupancy_grid_node/rviz_node=================================
robot_state_publisher_node = Node(
package = 'robot_state_publisher',
executable = 'robot_state_publisher',
parameters=[
{'robot_description': robot_desc},
{'use_sim_time': use_sim_time}],
output = 'screen'
)
cartographer_node = Node(
package='cartographer_ros',
executable='cartographer_node',
name='cartographer_node',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
arguments=['-configuration_directory', configuration_directory,
'-configuration_basename', configuration_basename])
occupancy_grid_node = Node(
package='cartographer_ros',
executable='cartographer_occupancy_grid_node',
name='cartographer_occupancy_grid_node',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
# arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': use_sim_time}],
output='screen')
#===============================================定义启动文件========================================================
ld = LaunchDescription()
ld.add_action(robot_state_publisher_node)
ld.add_action(cartographer_node)
ld.add_action(occupancy_grid_node)
ld.add_action(rviz_node)
return ld