jetson/ros2_ws/src/saltybot_sensor_fusion/launch/sensor_fusion.launch.py

@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from pathlib import Path
+
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("saltybot_sensor_fusion")
+    config_dir = Path(str(pkg_share)) / "config"
+    config_file = str(config_dir / "sensor_fusion_params.yaml")
+
+    lidar_topic_arg = DeclareLaunchArgument(
+        "lidar_topic",
+        default_value="/scan",
+        description="RPLIDAR topic"
+    )
+
+    depth_topic_arg = DeclareLaunchArgument(
+        "depth_topic",
+        default_value="/depth_scan",
+        description="RealSense depth_to_laserscan topic"
+    )
+
+    sensor_fusion_node = Node(
+        package="saltybot_sensor_fusion",
+        executable="sensor_fusion",
+        name="sensor_fusion",
+        parameters=[
+            config_file,
+            {"lidar_topic": LaunchConfiguration("lidar_topic")},
+            {"depth_topic": LaunchConfiguration("depth_topic")},
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription([
+        lidar_topic_arg,
+        depth_topic_arg,
+        sensor_fusion_node,
+    ])