26 lines
942 B
Python
26 lines
942 B
Python
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from launch import LaunchDescription
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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import os
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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pkg_share = get_package_share_directory('rm_serial_driver')
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param_file = os.path.join(pkg_share, 'config', 'serial_config.yaml')
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container = ComposableNodeContainer(
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name='rm_serial_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container_mt', # 多线程容器
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composable_node_descriptions=[
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ComposableNode(
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package='rm_serial_driver',
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plugin='rm_serial_driver::RMSerialDriver',
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name='rm_serial_driver',
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parameters=[param_file]
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)
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],
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output='screen'
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)
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return LaunchDescription([container])
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