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.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

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')
    config_file = os.path.join(this_dir, 'config', 'example.yaml')
    log_directory_arg = DeclareLaunchArgument(
        'log_directory',
        default_value=os.path.join(this_dir, 'config', 'example', '')
    )

    start_ekf_cal_node_cmd = Node(
        package='ekf_cal',
        executable='ekf_cal_node',
        output='screen',
        parameters=[
            config_file,
            {'log_directory': LaunchConfiguration('log_directory')}]
    )

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

    return ld