| from launch import LaunchDescription |
| import launch.actions |
| from launch_ros.substitutions import ExecutableInPackage |
| from launch_ros.actions import LifecycleNode |
| from ament_index_python.packages import get_package_share_directory |
| |
| share_dir = get_package_share_directory('publishsubscribe_extcode') |
| |
| def generate_launch_description(): |
| |
| # Launch Description |
| ld = launch.LaunchDescription() |
| |
| # Add the actions to the launch description. |
| # The order they are added reflects the order in which they will be executed. |
| ld.add_entity(LifecycleNode( |
| node_name='publisher', |
| package='publishsubscribe_extcode', node_executable='PeriodicPublisher', |
| remappings=[ |
| ('pMap', 'publisher/Map/pMap') |
| ], |
| parameters=[share_dir+'/launch/cfg/param.yaml'] |
| )) |
| return ld |
