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Allow to launch the joy launchfile #111

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Allow to launch the joy launchfile #111

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29 changes: 13 additions & 16 deletions linorobot2_bringup/launch/bringup.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,26 +14,18 @@

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.conditions import IfCondition, UnlessCondition


def generate_launch_description():
sensors_launch_path = PathJoinSubstitution(
[FindPackageShare('linorobot2_bringup'), 'launch', 'sensors.launch.py']
)

joy_launch_path = PathJoinSubstitution(
[FindPackageShare('linorobot2_bringup'), 'launch', 'joy_teleop.launch.py']
)

description_launch_path = PathJoinSubstitution(
[FindPackageShare('linorobot2_description'), 'launch', 'description.launch.py']
)

ekf_config_path = PathJoinSubstitution(
[FindPackageShare("linorobot2_base"), "config", "ekf.yaml"]
)
Expand All @@ -52,19 +44,19 @@ def generate_launch_description():

return LaunchDescription([
DeclareLaunchArgument(
name='custom_robot',
name='custom_robot',
default_value='false',
description='Use custom robot'
),

DeclareLaunchArgument(
name='extra',
name='extra',
default_value='false',
description='Launch extra launch file'
),

DeclareLaunchArgument(
name='base_serial_port',
name='base_serial_port',
default_value='/dev/ttyACM0',
description='Linorobot Base Serial Port'
),
Expand All @@ -82,13 +74,13 @@ def generate_launch_description():
),

DeclareLaunchArgument(
name='odom_topic',
name='odom_topic',
default_value='/odom',
description='EKF out odometry topic'
),

DeclareLaunchArgument(
name='joy',
name='joy',
default_value='false',
description='Use Joystick'
),
Expand Down Expand Up @@ -120,5 +112,10 @@ def generate_launch_description():
IncludeLaunchDescription(
PythonLaunchDescriptionSource(custom_robot_launch_path),
condition=IfCondition(LaunchConfiguration("custom_robot")),
)
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(joy_launch_path),
condition=IfCondition(LaunchConfiguration("joy")),
),
])