Merge pull request #20 from westonrobot/bugfix-launch

Bugfix launch
westonrobot · Jun 11, 2024 · 9a53352 · 9a53352
2 parents 44df3a8 + 6079e5b
commit 9a53352
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Showing 3 changed files with 32 additions and 7 deletions.
diff --git a/wrp_sdk_robot/CMakeLists.txt b/wrp_sdk_robot/CMakeLists.txt
@@ -25,16 +25,16 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(wrp_sdk_msgs REQUIRED)
 find_package(wrp_sdk 1.3 REQUIRED)
 
-add_executable(mobile_robot_base_node
+add_executable(mobile_base_node
   src/mobile_base_node.cpp
 )
-target_link_libraries(mobile_robot_base_node
+target_link_libraries(mobile_base_node
   westonrobot::wrp_sdk_robot
 )
-target_include_directories(mobile_robot_base_node PUBLIC
+target_include_directories(mobile_base_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-ament_target_dependencies(mobile_robot_base_node
+ament_target_dependencies(mobile_base_node
   rclcpp
   rclcpp_components
   wrp_sdk_msgs
@@ -47,7 +47,7 @@ ament_target_dependencies(mobile_robot_base_node
 )
 
 install(TARGETS
-  mobile_robot_base_node
+  mobile_base_node
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}

diff --git a/wrp_sdk_robot/launch/mobile_base/mobile_base.launch.py b/wrp_sdk_robot/launch/mobile_base/mobile_base.launch.py
@@ -10,8 +10,6 @@ def generate_launch_description():
         "use_sim_time", default_value="false",
         description='Use simulation clock if true')
 
-    # "weston" == weston robot base
-    # "agilex" == agilexV2 robot base
     robot_type_launch_arg = DeclareLaunchArgument(
         "robot_type", default_value="0",
         description="Mobile base robot type, Refer to README.md for more details."

diff --git a/wrp_sdk_robot/launch/mobile_base/robooterx.launch.py b/wrp_sdk_robot/launch/mobile_base/robooterx.launch.py
@@ -0,0 +1,27 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    mobile_base_robooterx_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(get_package_share_directory("wrp_sdk_robot"),
+                                                    "launch",
+                                                    "mobile_base",
+                                                    "mobile_base.launch.py")]),
+        launch_arguments={
+            "robot_type": "13",
+            "can_device": "can0",
+            "base_frame": "base_link",
+            "odom_frame": "odom",
+            "auto_reconnect": "true",
+            "publish_odom_tf": "true",
+        }.items(),
+    )
+
+    ld.add_action(mobile_base_robooterx_node)
+    return ld