@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