pcl_map_publisher.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_path = get_package_share_directory('carla_tc')

    map_publisher_param_file = os.path.join(
        carla_tc_pkg_path, 'param/map_publisher.param.yaml')

    map_publisher_param = DeclareLaunchArgument(
        'map_publisher_param_file',
        default_value=map_publisher_param_file,
        description='Path to config file for Map Publisher'
    )

    map_publisher = Node(
        package='ndt_nodes',
        executable='ndt_map_publisher_exe',
        namespace='localization',
        parameters=[LaunchConfiguration('map_publisher_param_file')]
    )


    return LaunchDescription([
        map_publisher_param,
        map_publisher,
    ])