def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'object_analytics_rviz'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='marker_publisher'),
],
name='marker_publisher',
exit_handler=default_exit_handler,
)
package = 'object_analytics_rviz'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='image_publisher'),
],
name='image_publisher',
exit_handler=default_exit_handler,
)
package = 'rviz2'
default_rviz = os.path.join(
get_package_share_directory('object_analytics_launch'), 'launch',
'default.rviz')
ld.add_process(
cmd=[
get_executable_path(package_name=package, executable_name='rviz2'),
'--display-config',
default_rviz,
],
name='object_rviz',
exit_handler=default_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'ydlidar_ros2_driver'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='ydlidar_ros2_driver_node')
],
name='ydlidar_ros2_driver_node',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
ld.add_process(
# The XYZ/Quat numbers for base_link -> laser_frame are taken from the
# turtlebot URDF in
# https://github.com/turtlebot/turtlebot/blob/931d045/turtlebot_description/urdf/sensors/astra.urdf.xacro
cmd=[
get_executable_path(package_name=package,
executable_name='static_transform_publisher'),
'0', '0', '0.02', '0', '0', '0', '1', 'base_link', 'laser_frame'
],
name='static_tf_pub_laser',
exit_handler=restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'detection'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='detection'),
'-r', '0', '-s', '0'],
name='detector',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='static_transform_publisher'),
'-1.58','0.95','1.11','0.0','0.0','0.0','1.0','map','external_camera'],
name='static_tf_pub_map_external',
exit_handler=restart_exit_handler,
)
package = 'detection'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='unified_target_publisher'),
'-r', '1'],
name='target_publisher',
exit_handler=restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'pid'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='controller')
],
name='controller',
exit_handler=restart_exit_handler,
)
package = 'pid'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='setpoint')
],
name='setpoint',
exit_handler=restart_exit_handler,
)
package = 'pid'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='servo_sim')
],
name='servo_sim',
# The joy node is required, die if it dies
exit_handler=restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'cartographer_ros'
turtlebot3_cartographer_prefix = get_package_share_directory(
'turtlebot3_cartographer')
cartographer_config_dir = '/root/scripts/cartographer_config/'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='cartographer_node'),
'-configuration_directory',
cartographer_config_dir,
'-configuration_basename',
'turtlebot2.lua' #'turtlebot3_lds_2d.lua'
],
name='cartographer_node',
)
ld.add_process(
cmd=[
get_executable_path(package_name='rviz2', executable_name='rviz2'),
'-d', '/root/scripts/visualization/turtlebot.rviz'
],
name='rviz2_node',
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'dummy_map_server'
ld.add_process(cmd=[
get_executable_path(package_name=package,
executable_name='dummy_map_server')
], )
package = 'robot_state_publisher'
ld.add_process(cmd=[
get_executable_path(package_name=package,
executable_name='robot_state_publisher'),
os.path.join(get_package_share_directory('dummy_robot_bringup'),
'launch', 'single_rrbot.urdf')
], )
package = 'dummy_sensors'
ld.add_process(cmd=[
get_executable_path(package_name=package,
executable_name='dummy_laser')
], )
ld.add_process(cmd=[
get_executable_path(package_name=package,
executable_name='dummy_joint_states')
], )
def launch(launch_descriptor, argv):
process = launch_descriptor
# package = 'tf2_ros'
# process.add_process(
# cmd=[
# get_executable_path(
# package_name=package, executable_name='static_transform_publisher'),
# '0', '0', '0',
# '0', '0', '1', '0',
# 'base_link',
# 'laser'
# ],
# name='tf_pub_base_to_laserA',
# exit_handler=restart_exit_handler,
# )
package = 'tf2_ros'
process.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='static_transform_publisher'),
'0.505', '0.259', '0.0', '0', '0', '0.382683', '0.92388',
'base_link', 'laser'
],
name='tf_pub_base_to_laser_1',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
process.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='static_transform_publisher'),
'-0.505', '-0.259', '0.0', '0', '0', '-0.92388', '0.382683',
'base_link', 'laser_1'
],
name='tf_pub_base_to_laser_2',
exit_handler=restart_exit_handler,
)
package = 'cartographer_ros'
# cartographer_prefix = '/home/adayimaxiga/mine_ws/src/bring_up'
cartographer_prefix = get_package_share_directory('bring_up')
cartographer_config_dir = os.path.join(cartographer_prefix,
'configuration_files')
process.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='cartographer_node'),
'-configuration_directory', cartographer_config_dir,
'-configuration_basename', 'my_cart.lua'
],
name='cartographer_node',
exit_handler=restart_exit_handler,
)
return process
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'turtlebot2_drivers'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='kobuki_node')
],
name='kobuki_node',
exit_handler=restart_exit_handler,
)
package = 'astra_camera'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='astra_camera_node'), '-dw',
'320', '-dh', '240', '-C', '-I'
],
name='astra_camera_node',
exit_handler=restart_exit_handler,
)
package = 'turtlebot2_follower'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='follower')
],
name='follower',
exit_handler=restart_exit_handler,
)
package = 'teleop_twist_joy'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='teleop_node')
],
name='teleop_node',
# The teleop node is optional, we don't care if it actually launches
exit_handler=ignore_exit_handler,
)
package = 'joy'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='joy_node')
],
name='joy',
# The joy node is optional, we don't care if it actually launches
exit_handler=ignore_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
ld.add_process(
cmd=[get_executable_path(package_name="talker_cpp", executable_name="talker")],
name="talker",
)
ld.add_process(
cmd=[
get_executable_path(package_name="listener_py", executable_name="listener")
],
name="listener",
)
return ld
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
package = 'topic_monitor'
executable = get_executable_path(package_name=package, executable_name='data_publisher')
os.environ['PYTHONUNBUFFERED'] = '1' # force unbuffered output to get prints to sync correctly
name = 'small'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '1', '--period', '4'],
name=name,
)
name = 'medium'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '50000', '--period', '4'],
name=name,
)
name = 'large'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '100000', '--period', '4'],
name=name,
)
name = 'xlarge'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '150000', '--period', '4'],
name=name,
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
package = 'topic_monitor'
executable = get_executable_path(package_name=package,
executable_name='data_publisher')
name = 'small'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '1', '--period', '4'],
name=name,
)
name = 'medium'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '50000', '--period', '4'],
name=name,
)
name = 'large'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '100000', '--period', '4'],
name=name,
)
name = 'xlarge'
launch_descriptor.add_process(
cmd=[executable, name, '--payload-size', '150000', '--period', '4'],
name=name,
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def main():
launcher = DefaultLauncher()
launch_descriptor = LaunchDescriptor()
package = 'topic_monitor'
executable = get_executable_path(package_name=package,
executable_name='data_publisher')
# Strip the logger name from the message format in favor of the shorter executable name
os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '[{severity}] {message}'
os.environ[
'PYTHONUNBUFFERED'] = '1' # force unbuffered output to get prints to sync correctly
launch_descriptor.add_process(
cmd=[executable, 'sensor', '--best-effort'],
name='sensor',
)
launch_descriptor.add_process(
cmd=[executable, 'critical'],
name='critical',
)
launcher.add_launch_descriptor(launch_descriptor)
rc = launcher.launch()
if rc != 0:
print('Something went wrong. Return code: ' + str(rc), file=sys.stderr)
exit(rc)
def launch(launch_descriptor, argv):
package = 'movidius_ncs_image'
launch_descriptor.add_process(
cmd=[get_executable_path(package_name=package, executable_name='movidius_ncs_image')],
name='movidius_ncs_image',
exit_handler=default_exit_handler,)
return launch_descriptor
def get_cmd(package, executable, required, *args):
cmd = [
get_executable_path(package_name=package, executable_name=executable)
]
for arg in args:
cmd.append(arg)
return cmd
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'image_tools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='showimage'),
'-t', '/opencv_tests/images'],
name='showimage',
exit_handler=restart_exit_handler,
)
package = 'opencv_tests'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='source.py')],
name='source.py',
exit_handler=restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'lifecycle'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='lifecycle_talker')],
)
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='lifecycle_listener')],
)
ld.add_process(
cmd=[get_executable_path(
package_name=package, executable_name='lifecycle_service_client')],
exit_handler=primary_exit_handler,
)
def launch(launch_descriptor, argv):
ld = launch_descriptor
ld.add_process(
cmd=[
get_executable_path(package_name="talker_cpp",
executable_name="talker")
],
name="talker",
)
ld.add_process(
cmd=[
get_executable_path(package_name="listener_py",
executable_name="listener")
],
name="listener",
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
ld.add_process(
cmd=[
get_executable_path(package_name='talker_cpp',
executable_name='talker')
],
name='talker',
)
ld.add_process(
cmd=[
get_executable_path(package_name='listener_py',
executable_name='listener')
],
name='listener',
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'nettools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='throughput'),
'-r','0','-m','image','-t','image'],
name='nettools_throughput',
exit_handler=restart_exit_handler,
)
package = 'nettools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='nettools_plotter.py'),
'-t', 'image','-s', 'throughput'],
name='throughput_plotter',
exit_handler=restart_exit_handler,
)
return ld
def execute(self):
"""Call the executable."""
msg = 'Running executable {} of package {}'
self.node.get_logger().info(
msg.format(self.executable_name, self.package_name))
path = get_executable_path(package_name=self.package_name,
executable_name=self.executable_name)
if path is None:
raise FileNotFoundError(
f'{self.package_name}/{self.executable_name}')
self.process = asyncio.run(self._execute(path))
def find_executable(package_name, executable_name):
"""Locate the path to a node within a package.
Locate the path to a node within a package.
* package_name -- is the name of the package
* executable_name -- is the name of the executable
"""
return get_executable_path(package_name=package_name,
executable_name=executable_name)
def launch(launch_descriptor, argv):
ld = launch_descriptor
# package = 'nettools'
# ld.add_process(
# cmd=[get_executable_path(package_name=package, executable_name='latency'),
# '-r','0','-m','image','-t','image'],
# name='nettools_latency',
# exit_handler=restart_exit_handler,
# )
package = 'nettools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='nettools_plotter.py'),
'-s', 'latency','-t', 'image'],
name='latency_plotter',
exit_handler=restart_exit_handler,
)
package = 'nettools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='nettools_plotter.py'),
'-s', 'msg_loss', '-t', 'image'],
name='msg_loss_plotter',
exit_handler=restart_exit_handler,
)
package = 'nettools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='nettools_plotter.py'),
'-s', 'frequency', '-t', 'image'],
name='freq_plotter',
exit_handler=restart_exit_handler,
)
package = 'nettools'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='nettools_plotter.py'),
'-s', 'jitter', '-t', 'image'],
name='jitter_plotter',
exit_handler=restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
arr = [("pi_camera", "camera_node_sequence", True),
("dagu_car", "inverse_kinematics_node", True),
("dagu_car", "wheels_driver_node", True),
("line_detector", "line_detector_node", True),
("ground_projection", "ground_projection_node", True),
("lane_filter", "lane_filter_node", True),
("lane_control", "lane_controller_node", True),
#("dagu_car", "car_cmd_switch_node", True),
("joy", "joy_node", True)]
for package, executable, required in arr:
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name=executable)],
name=executable,
# die if required, restart otherwise
exit_handler=default_exit_handler if required else restart_exit_handler,
)
ld.add_process(
cmd=[get_executable_path(package_name="joy_mapper", executable_name="joy_mapper_node"),
"--publish_topic", "/joy_mapper_node/car_cmd"],
name="joy_mapper_node",
# die if required, restart otherwise
exit_handler=default_exit_handler if required else restart_exit_handler,
)
package, executable, required = "dagu_car", "car_cmd_switch_node", True
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name=executable),
"--subscribe_topic1", "/joy_mapper_node/car_cmd",
"--subscribe_topic2", "/lane_controller_node/car_cmd",
"--subscribe_topic_switch", "/joystick_override",
"--publish_topic", "/car_cmd"],
name=executable,
# die if required, restart otherwise
exit_handler=default_exit_handler if required else restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'object_analytics_node'
ld.add_process(
cmd=[
get_executable_path(package_name=package, executable_name='composition'),
'--localization', # enable localization feature, optional
'--tracking', # enable tracking feature, optional
],
name='oa_composition',
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'turtlebot2_drivers'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='kobuki_node')],
name='kobuki_node',
exit_handler=restart_exit_handler,
)
package = 'astra_camera'
ld.add_process(
cmd=[
get_executable_path(package_name=package, executable_name='astra_camera_node'),
'-dw', '320', '-dh', '240', '-C', '-I'],
name='astra_camera_node',
exit_handler=restart_exit_handler,
)
package = 'turtlebot2_follower'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='follower')],
name='follower',
exit_handler=restart_exit_handler,
)
package = 'teleop_twist_joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='teleop_node')],
name='teleop_node',
# The teleop node is optional, we don't care if it actually launches
exit_handler=ignore_exit_handler,
)
package = 'joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='joy_node')],
name='joy',
# The joy node is optional, we don't care if it actually launches
exit_handler=ignore_exit_handler,
)
return ld
def add_process_to_descriptor(launch_descriptor, size, depth):
name = '{0}_depth_{1}'.format(size, depth)
payload = 0 if size == 'small' else 100000
package = 'topic_monitor'
executable = get_executable_path(package_name=package,
executable_name='data_publisher')
launch_descriptor.add_process(
cmd=[
executable, name, '--depth',
str(depth), '--payload-size',
str(payload)
],
name=name,
)
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'turtlebot2_drivers'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='kobuki_node')],
name='kobuki_node',
exit_handler=restart_exit_handler,
)
package = 'teleop_twist_joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='teleop_node')],
name='teleop_node',
exit_handler=restart_exit_handler,
)
package = 'joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='joy_node')],
name='joy_node',
# The joy node is required, die if it dies
exit_handler=default_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'joy'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='joy_node')
],
name='joy_node',
# The joy node is required, die if it dies
exit_handler=default_exit_handler,
)
return ld
def launch(descriptor, argv):
"""Launch the slam gmapping node.
* ld -- the launch descriptor object
* argv -- the command line arguments
"""
args = []
# TODO: Eventually support input arguments
slamGmappingExecutable = get_executable_path(
package_name="gmapping", executable_name="slam_gmapping")
descriptor.add_process([slamGmappingExecutable] + args)
def launch(launch_descriptor, argv):
package = 'movidius_ncs_stream'
plugin = 'movidius_ncs_stream::NCSComposition'
# run composition by api_composition_cli
launch_descriptor.add_process(
cmd=[
get_executable_path(package_name='composition',
executable_name='api_composition_cli'),
package, plugin
],
name='movidius_ncs_stream',
exit_handler=default_exit_handler,
)
return launch_descriptor
def main(self, *, parser, args):
try:
path = get_executable_path(package_name=args.package_name,
executable_name=args.executable_name)
except PackageNotFound:
raise RuntimeError(f"Package '{args.package_name}' not found")
except MultipleExecutables as e:
msg = 'Multiple executables found:'
for p in e.paths:
msg += f'\n- {p}'
raise RuntimeError(msg)
if path is None:
return 'No executable found'
prefix = shlex.split(args.prefix) if args.prefix is not None else None
return run_executable(path=path, argv=args.argv, prefix=prefix)
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'detection'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='detection'), '-r', '0', '-s',
'0'
],
name='detection_node',
exit_handler=restart_exit_handler,
)
package = 'image_tools'
ld.add_process(
cmd=[
get_executable_path(package_name=package,
executable_name='cam2image'), '-x', '352',
'-y', '288', '-r', '0', '-f', '2'
],
name='cam2image_node',
exit_handler=restart_exit_handler,
)
return ld
def launch(launch_descriptor, argv):
parser = argparse.ArgumentParser(description='launch amcl turtlebot demo')
parser.add_argument(
'--map',
help='path to map (will be passed to map_server)')
args = parser.parse_args(argv)
ld = launch_descriptor
package = 'turtlebot2_drivers'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='kobuki_node')],
name='kobuki_node',
exit_handler=restart_exit_handler,
)
package = 'astra_camera'
ld.add_process(
cmd=[
get_executable_path(package_name=package, executable_name='astra_camera_node'),
'-dw', '320', '-dh', '240', '-C', '-I'],
name='astra_camera_node',
exit_handler=restart_exit_handler,
)
package = 'depthimage_to_laserscan'
ld.add_process(
cmd=[
get_executable_path(
package_name=package, executable_name='depthimage_to_laserscan_node')],
name='depthimage_to_laserscan_node',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
ld.add_process(
# The XYZ/Quat numbers for base_link -> camera_rgb_frame are taken from the
# turtlebot URDF in
# https://github.com/turtlebot/turtlebot/blob/931d045/turtlebot_description/urdf/sensors/astra.urdf.xacro
cmd=[
get_executable_path(
package_name=package, executable_name='static_transform_publisher'),
'-0.087', '-0.0125', '0.287',
'0', '0', '0', '1',
'base_link',
'camera_rgb_frame'
],
name='static_tf_pub_base_rgb',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
ld.add_process(
# The XYZ/Quat numbers for camera_rgb_frame -> camera_depth_frame are taken from the
# turtlebot URDF in
# https://github.com/turtlebot/turtlebot/blob/931d045/turtlebot_description/urdf/sensors/astra.urdf.xacro
cmd=[
get_executable_path(
package_name=package, executable_name='static_transform_publisher'),
'0', '0.0250', '0',
'0', '0', '0', '1',
'camera_rgb_frame',
'camera_depth_frame'
],
name='static_tf_pub_rgb_depth',
exit_handler=restart_exit_handler,
)
package = 'joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='joy_node')],
name='joy_node',
exit_handler=restart_exit_handler,
)
package = 'teleop_twist_joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='teleop_node')],
name='teleop_node',
exit_handler=restart_exit_handler,
)
turtlebot2_amcl_share = get_package_share_directory('turtlebot2_amcl')
map_path = os.path.join(turtlebot2_amcl_share, 'examples', 'osrf_map.yaml')
if args.map:
map_path = args.map
package = 'map_server'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='map_server'), map_path],
name='map_server',
)
package = 'amcl'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='amcl'), '--use-map-topic'],
name='amcl',
exit_handler=restart_exit_handler,
output_handlers=[ConsoleOutput()],
)
return ld
def launch(launch_descriptor, argv):
ld = launch_descriptor
package = 'turtlebot2_drivers'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='kobuki_node')],
name='kobuki_node',
exit_handler=restart_exit_handler,
)
package = 'astra_camera'
ld.add_process(
cmd=[
get_executable_path(package_name=package, executable_name='astra_camera_node'),
'-dw', '320', '-dh', '240', '-C', '-I'],
name='astra_camera_node',
exit_handler=restart_exit_handler,
)
package = 'depthimage_to_pointcloud2'
ld.add_process(
cmd=[
get_executable_path(
package_name=package, executable_name='depthimage_to_pointcloud2_node')],
name='depthimage_to_pointcloud2_node',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
ld.add_process(
# The XYZ/Quat numbers for base_link -> camera_rgb_frame are taken from the
# turtlebot URDF in
# https://github.com/turtlebot/turtlebot/blob/931d045/turtlebot_description/urdf/sensors/astra.urdf.xacro
cmd=[
get_executable_path(
package_name=package, executable_name='static_transform_publisher'),
'-0.087', '-0.0125', '0.287',
'0', '0', '0', '1',
'base_link',
'camera_rgb_frame'
],
name='static_tf_pub_base_rgb',
exit_handler=restart_exit_handler,
)
package = 'tf2_ros'
ld.add_process(
# The XYZ/Quat numbers for camera_rgb_frame -> camera_depth_frame are taken from the
# turtlebot URDF in
# https://github.com/turtlebot/turtlebot/blob/931d045/turtlebot_description/urdf/sensors/astra.urdf.xacro
cmd=[
get_executable_path(
package_name=package, executable_name='static_transform_publisher'),
'0', '0.0250', '0',
'0', '0', '0', '1',
'camera_rgb_frame',
'openni_depth_optical_frame'
],
name='static_tf_pub_rgb_depth',
exit_handler=restart_exit_handler,
)
package = 'joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='joy_node')],
name='joy_node',
exit_handler=restart_exit_handler,
)
package = 'teleop_twist_joy'
ld.add_process(
cmd=[get_executable_path(package_name=package, executable_name='teleop_node')],
name='teleop_node',
exit_handler=restart_exit_handler,
)
package = 'cartographer_ros'
turtlebot2_cartographer_prefix = get_package_share_directory('turtlebot2_cartographer')
cartographer_config_dir = os.path.join(turtlebot2_cartographer_prefix, 'configuration_files')
ld.add_process(
cmd=[
get_executable_path(package_name=package, executable_name='cartographer_node'),
'-configuration_directory', cartographer_config_dir,
'-configuration_basename', 'turtlebot_2d.lua'
],
name='cartographer_node',
exit_handler=restart_exit_handler,
)
return ld
