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@JasonRBowling
Created November 15, 2023 14:36
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""Launch the ublox gps node with c94-m8p configuration."""
import os
import ament_index_python.packages
import launch
import launch_ros.actions
def generate_launch_description():
config_directory = os.path.join(
ament_index_python.packages.get_package_share_directory('ublox_gps'),
'config')
params = os.path.join(config_directory, 'zed_f9p.yaml')
ublox_gps_node = launch_ros.actions.Node(package='ublox_gps',
executable='ublox_gps_node',
output='both',
parameters=[params])
return launch.LaunchDescription([ublox_gps_node,
launch.actions.RegisterEventHandler(
event_handler=launch.event_handlers.OnProcessExit(
target_action=ublox_gps_node,
on_exit=[launch.actions.EmitEvent(
event=launch.events.Shutdown())],
)),
])
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