30 lines
1015 B
Python
30 lines
1015 B
Python
from launch.exit_handler import ignore_exit_handler, restart_exit_handler
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from ros2run.api import get_executable_path
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def launch(launch_descriptor, argv):
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ld = launch_descriptor
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package = 'ydlidar'
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ld.add_process(
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cmd=[get_executable_path(package_name=package, executable_name='ydlidar_node')],
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name='ydlidar_node',
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exit_handler=restart_exit_handler,
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)
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package = 'tf2_ros'
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ld.add_process(
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# The XYZ/Quat numbers for base_link -> laser_frame are taken from the
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# turtlebot URDF in
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# https://github.com/turtlebot/turtlebot/blob/931d045/turtlebot_description/urdf/sensors/astra.urdf.xacro
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cmd=[
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get_executable_path(
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package_name=package, executable_name='static_transform_publisher'),
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'0', '0', '0.02',
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'0', '0', '0', '1',
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'base_link',
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'laser_frame'
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],
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name='static_tf_pub_laser',
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exit_handler=restart_exit_handler,
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)
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return ld
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