src/localization/ndt_nodes/launch/ndt_nodes.launch.py
def generate_launch_description():
    """Launch P2D NDT and map publisher nodes."""
    # P2D NDT localizer parameter file definition.
    p2d_ndt_localizer_file_path = os.path.join(
        get_package_share_directory('ndt_nodes'),
        'param',
        'p2d_ndt_node.default.param.yaml')
    p2d_ndt_localizer_param_file = launch.substitutions.LaunchConfiguration(
        'params', default=[p2d_ndt_localizer_file_path])

    # P2D NDT localizer node execution definition.
    p2d_ndt_localizer_runner = launch_ros.actions.Node(
        package='ndt_nodes',
        executable='p2d_ndt_localizer_exe',
        parameters=[p2d_ndt_localizer_param_file],
        remappings=[("points_in", "points_nonground")])

    return launch.LaunchDescription([
        p2d_ndt_localizer_runner])
Launch P2D NDT and map publisher nodes.
Launch P2D NDT and map publisher nodes.
Launch P2D NDT and map publisher nodes .
def generate_launch_description():
    p2d_ndt_localizer_file_path = os.path.join(
        get_package_share_directory('ndt_nodes'),
        'param',
        'p2d_ndt_node.default.param.yaml')
    p2d_ndt_localizer_param_file = launch.substitutions.LaunchConfiguration(
        'params', default=[p2d_ndt_localizer_file_path])
    p2d_ndt_localizer_runner = launch_ros.actions.Node(
        package='ndt_nodes',
        executable='p2d_ndt_localizer_exe',
        parameters=[p2d_ndt_localizer_param_file],
        remappings=[("points_in", "points_nonground")])
    return launch.LaunchDescription([
        p2d_ndt_localizer_runner])
def generate_launch_description ( ) : p2d_ndt_localizer_file_path = os . path . join ( get_package_share_directory ( 'ndt_nodes' ) , 'param' , 'p2d_ndt_node.default.param.yaml' ) p2d_ndt_localizer_param_file = launch . substitutions . LaunchConfiguration ( 'params' , default = [ p2d_ndt_localizer_file_path ] ) p2d_ndt_localizer_runner = launch_ros . actions . Node ( package = 'ndt_nodes' , executable = 'p2d_ndt_localizer_exe' , parameters = [ p2d_ndt_localizer_param_file ] , remappings = [ ( "points_in" , "points_nonground" ) ] ) return launch . LaunchDescription ( [ p2d_ndt_localizer_runner ] )
Launch P2D NDT and map publisher nodes.
Launch P2D NDT and map publisher nodes .
"""Launch P2D NDT and map publisher nodes.""" # P2D NDT localizer parameter file definition. # P2D NDT localizer node execution definition.