dual_ekf_navsat.launch.py

# Copyright 2018 Open Source Robotics Foundation, Inc.
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
import os
 
from launch import LaunchDescription
import launch.actions
import launch_ros.actions
 
 
def generate_launch_description() -> LaunchDescription:
    launch_dir = os.path.dirname(os.path.realpath(__file__))
    params_file = os.path.join(launch_dir, 'dual_ekf_navsat_params.yaml')
    os.environ['FILE_PATH'] = str(launch_dir)
    return LaunchDescription(
        [
            launch.actions.DeclareLaunchArgument(
                'output_final_position', default_value='false'
            ),
            launch.actions.DeclareLaunchArgument(
                'output_location', default_value='~/dual_ekf_navsat_example_debug.txt'
            ),
            launch_ros.actions.Node(
                package='robot_localization',
                executable='ekf_node',
                name='ekf_filter_node_odom',
                output='screen',
                parameters=[params_file, {'use_sim_time': True}],
                remappings=[('odometry/filtered', 'odometry/local')],
            ),
            launch_ros.actions.Node(
                package='robot_localization',
                executable='ekf_node',
                name='ekf_filter_node_map',
                output='screen',
                parameters=[params_file, {'use_sim_time': True}],
                remappings=[('odometry/filtered', 'odometry/global')],
            ),
            launch_ros.actions.Node(
                package='robot_localization',
                executable='navsat_transform_node',
                name='navsat_transform',
                output='screen',
                parameters=[params_file, {'use_sim_time': True}],
                remappings=[
                    ('imu/data', 'imu/data'),
                    ('gps/fix', 'gps/fix'),
                    ('gps/filtered', 'gps/filtered'),
                    ('odometry/gps', 'odometry/gps'),
                    ('odometry/filtered', 'odometry/global'),
                ],
            ),
        ]
    )