example.launch.py

# Copyright 2022 Jacob Hartzer
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <https://www.gnu.org/licenses/>.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription

from launch_ros.actions import Node


def generate_launch_description():
    """Generate launch description for ekf_cal example config."""
    this_dir = get_package_share_directory('ekf_cal')

    start_ekf_cal_node_cmd = Node(
        package='ekf_cal',
        executable='ekf_cal_node',
        output='screen',
        parameters=[os.path.join(this_dir, 'config', 'example.yaml')],
        # arguments=['--ros-args', '--log-level', 'debug'] # For ROS debugging
    )

    # Create the launch description and populate
    ld = LaunchDescription()
    ld.add_action(start_ekf_cal_node_cmd)

    return ld