lanelet2_map_provider.launch.py

from ament_index_python import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import IncludeLaunchDescription
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

import os


def generate_launch_description():

    avp_demo_pkg_prefix = get_package_share_directory('carla_tc')

    lanelet2_map_provider_param_file = os.path.join(
        avp_demo_pkg_prefix, 'param/lanelet2_map_provider.param.yaml')

    # Arguments


    lanelet2_map_provider_param = DeclareLaunchArgument(
        'lanelet2_map_provider_param_file',
        default_value=lanelet2_map_provider_param_file,
        description='Path to parameter file for Lanelet2 Map Provider'
    )


    # NODES
    lanelet2_map_provider = Node(
        package='lanelet2_map_provider',
        executable='lanelet2_map_provider_exe',
        namespace='had_maps',
        name='lanelet2_map_provider_node',
        parameters=[LaunchConfiguration('lanelet2_map_provider_param_file')]
    )
    lanelet2_map_visualizer = Node(
        package='lanelet2_map_provider',
        executable='lanelet2_map_visualizer_exe',
        name='lanelet2_map_visualizer_node',
        namespace='had_maps'
    )

    return LaunchDescription([
        lanelet2_map_provider_param,
        lanelet2_map_provider,
        lanelet2_map_visualizer,
    ])