receiver_launch.py

# Copyright 2022 Robert Bosch GmbH and its subsidiaries
# Copyright 2023 digital workbench GmbH
#
# 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 LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    params = PathJoinSubstitution([
        FindPackageShare('off_highway_uss'),
        'config',
        'receiver_params.yaml'
    ])

    return LaunchDescription([
        DeclareLaunchArgument('params',
                              default_value=params,
                              description='Parameters for receiver'),
        Node(
            package='off_highway_uss',
            executable='receiver',
            name='off_highway_uss_receiver',
            output='screen',
            parameters=[LaunchConfiguration('params')],
            arguments=[]
        )
    ])