src/planning/recordreplay_planner_nodes/launch/recordreplay_planner_node.launch.py
def generate_launch_description():
    """Launch recordreplay_planner_node with default configuration."""
    # -------------------------------- Nodes-----------------------------------
    recordreplay_planner_node = launch_ros.actions.Node(
        package='recordreplay_planner_nodes',
        executable='recordreplay_planner_node_exe',
        name='recordreplay_planner',
        namespace='planning',
        output='screen',
        parameters=[
            "{}/param/defaults.param.yaml".format(
                ament_index_python.get_package_share_directory(
                    "recordreplay_planner_nodes"
                )
            ),
        ],
        remappings=[
            ('vehicle_state', '/vehicle/vehicle_kinematic_state'),
            ('planned_trajectory', '/planning/trajectory'),
            ('obstacle_bounding_boxes', '/perception/lidar_bounding_boxes'),
        ]
    )

    ld = launch.LaunchDescription([
        recordreplay_planner_node]
    )
    return ld
Launch recordreplay_planner_node with default configuration.
Launch recordreplay_planner_node with default configuration.
Launch recordreplay_planner_node with default configuration .
def generate_launch_description():
    recordreplay_planner_node = launch_ros.actions.Node(
        package='recordreplay_planner_nodes',
        executable='recordreplay_planner_node_exe',
        name='recordreplay_planner',
        namespace='planning',
        output='screen',
        parameters=[
            "{}/param/defaults.param.yaml".format(
                ament_index_python.get_package_share_directory(
                    "recordreplay_planner_nodes"
                )
            ),
        ],
        remappings=[
            ('vehicle_state', '/vehicle/vehicle_kinematic_state'),
            ('planned_trajectory', '/planning/trajectory'),
            ('obstacle_bounding_boxes', '/perception/lidar_bounding_boxes'),
        ]
    )
    ld = launch.LaunchDescription([
        recordreplay_planner_node]
    )
    return ld
def generate_launch_description ( ) : recordreplay_planner_node = launch_ros . actions . Node ( package = 'recordreplay_planner_nodes' , executable = 'recordreplay_planner_node_exe' , name = 'recordreplay_planner' , namespace = 'planning' , output = 'screen' , parameters = [ "{}/param/defaults.param.yaml" . format ( ament_index_python . get_package_share_directory ( "recordreplay_planner_nodes" ) ) , ] , remappings = [ ( 'vehicle_state' , '/vehicle/vehicle_kinematic_state' ) , ( 'planned_trajectory' , '/planning/trajectory' ) , ( 'obstacle_bounding_boxes' , '/perception/lidar_bounding_boxes' ) , ] ) ld = launch . LaunchDescription ( [ recordreplay_planner_node ] ) return ld
Launch recordreplay_planner_node with default configuration.
Launch recordreplay_planner_node with default configuration .
"""Launch recordreplay_planner_node with default configuration.""" # -------------------------------- Nodes-----------------------------------