localizer.launch.py

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,
    ])