src/planning/global_velocity_planner/launch/global_velocity_planner.launch.py
def generate_launch_description():
    """
    Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo.

    More details about what is included can
    be found at https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/25.
    """
    # avp_demo_pkg_prefix = get_package_share_directory('autoware_demos')
    # autoware_launch_pkg_prefix = get_package_share_directory('autoware_auto_launch')
    global_vel_planner_prefix = get_package_share_directory('global_velocity_planner')

    global_velocity_planner_param_file = os.path.join(
        global_vel_planner_prefix, 'param/defaults.param.yaml')

    global_velocity_planner_param = DeclareLaunchArgument(
        'global_velocity_planner_param_file',
        default_value=global_velocity_planner_param_file,
        description='Path to parameter file for global velocity planner'
    )
    # Nodes
    global_velocity_planner = Node(
        package='global_velocity_planner',
        name='global_velocity_planner_node',
        namespace='planning',
        executable='global_velocity_planner_node_exe',
        parameters=[
            LaunchConfiguration('global_velocity_planner_param_file'),
        ],
        remappings=[('HAD_Map_Service', '/had_maps/HAD_Map_Service'),
                    ('vehicle_state', '/vehicle/vehicle_kinematic_state'),
                    ('route', 'global_path')]
    )

    return LaunchDescription([
        global_velocity_planner_param,
        global_velocity_planner,
    ])

    Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo.

    More details about what is included can
    be found at https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/25.
    
Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo.
Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo .
def generate_launch_description():
    global_vel_planner_prefix = get_package_share_directory('global_velocity_planner')
    global_velocity_planner_param_file = os.path.join(
        global_vel_planner_prefix, 'param/defaults.param.yaml')
    global_velocity_planner_param = DeclareLaunchArgument(
        'global_velocity_planner_param_file',
        default_value=global_velocity_planner_param_file,
        description='Path to parameter file for global velocity planner'
    )
    global_velocity_planner = Node(
        package='global_velocity_planner',
        name='global_velocity_planner_node',
        namespace='planning',
        executable='global_velocity_planner_node_exe',
        parameters=[
            LaunchConfiguration('global_velocity_planner_param_file'),
        ],
        remappings=[('HAD_Map_Service', '/had_maps/HAD_Map_Service'),
                    ('vehicle_state', '/vehicle/vehicle_kinematic_state'),
                    ('route', 'global_path')]
    )
    return LaunchDescription([
        global_velocity_planner_param,
        global_velocity_planner,
    ])
def generate_launch_description ( ) : global_vel_planner_prefix = get_package_share_directory ( 'global_velocity_planner' ) global_velocity_planner_param_file = os . path . join ( global_vel_planner_prefix , 'param/defaults.param.yaml' ) global_velocity_planner_param = DeclareLaunchArgument ( 'global_velocity_planner_param_file' , default_value = global_velocity_planner_param_file , description = 'Path to parameter file for global velocity planner' ) global_velocity_planner = Node ( package = 'global_velocity_planner' , name = 'global_velocity_planner_node' , namespace = 'planning' , executable = 'global_velocity_planner_node_exe' , parameters = [ LaunchConfiguration ( 'global_velocity_planner_param_file' ) , ] , remappings = [ ( 'HAD_Map_Service' , '/had_maps/HAD_Map_Service' ) , ( 'vehicle_state' , '/vehicle/vehicle_kinematic_state' ) , ( 'route' , 'global_path' ) ] ) return LaunchDescription ( [ global_velocity_planner_param , global_velocity_planner , ] )
Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo.
Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo .
"""
    Launch all nodes defined in the architecture for Milestone 3 of the AVP 2020 Demo.

    More details about what is included can
    be found at https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/25.
    """ # avp_demo_pkg_prefix = get_package_share_directory('autoware_demos') # autoware_launch_pkg_prefix = get_package_share_directory('autoware_auto_launch') # Nodes