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@RDaneelOlivav
Created July 12, 2021 18:51
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from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import os
def generate_launch_description():
carla_tc_pkg_prefix = get_package_share_directory('carla_tc')
ndt_localizer_param_file = os.path.join(
carla_tc_pkg_prefix, 'param/ndt_localizer.param.yaml')
ndt_localizer_param = DeclareLaunchArgument(
'ndt_localizer_param_file',
default_value=ndt_localizer_param_file,
description='Path to config file for ndt localizer'
)
ndt_localizer = Node(
package='ndt_nodes',
executable='p2d_ndt_localizer_exe',
namespace='localization',
name='p2d_ndt_localizer_node',
parameters=[LaunchConfiguration('ndt_localizer_param_file')],
remappings=[
("points_in", "/lidar_front/points_filtered"),
("observation_republish", "/lidars/points_fused_viz"),
]
)
odom_bl_publisher = Node(
package='tf2_ros',
executable='static_transform_publisher',
arguments=["0", "0", "0", "0", "0", "0", "odom", "ego_vehicle"]
)
return LaunchDescription([
#odom_bl_publisher,
ndt_localizer_param,
ndt_localizer,
])
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