swerve_controller.launch.py

# 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.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.substitutions.launch_configuration import LaunchConfiguration

ARGUMENTS = [
    DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        choices=['true', 'false'],
        description='use_sim_time'
    ),
]

def generate_launch_description():

    config = PathJoinSubstitution(
        [
            FindPackageShare("zinger_swerve_controller"),
            "config",
            "swerve.yaml",
        ]
    )

    return LaunchDescription(
        [
            Node(
                package="zinger_swerve_controller",
                executable="swerve_controller",
                name="swerve_controller",
                parameters=[
                    {'use_sim_time': LaunchConfiguration('use_sim_time')},
                    config
                ],
                output="both",
            )
        ]
    )