test_ekf_localization_node_bag2.launch.py

# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# 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
import launch_ros.actions
import os
import yaml
from launch.substitutions import EnvironmentVariable
import pathlib
import launch.actions
from launch.actions import DeclareLaunchArgument



def generate_launch_description():

    parameters_file_dir = pathlib.Path(__file__).resolve().parent
    parameters_file_path = parameters_file_dir / 'test_ekf_localization_node_bag2.yaml'    
    os.environ['FILE_PATH'] = str(parameters_file_dir)

    ekf_node = launch_ros.actions.Node(
        package='robot_localization', executable='ekf_node', name='test_ekf_localization_node_bag2_ekf',
	    output='screen',
	    parameters=[
                parameters_file_path,
                str(parameters_file_path),
                [EnvironmentVariable(name='FILE_PATH'), os.sep, 'test_ekf_localization_node_bag2.yaml'],],)

    test_ekf_localization_node_bag2 =  launch_ros.actions.Node(
            package='robot_localization', executable='test_ekf_localization_node_bag2', name='test_ekf_localization_node_bag2_pose',
            output='screen',
	parameters=[
                parameters_file_path,
                str(parameters_file_path),
                [EnvironmentVariable(name='FILE_PATH'), os.sep, 'test_ekf_localization_node_bag2.yaml'],],)

    return LaunchDescription([
        launch.actions.DeclareLaunchArgument(
            'output_final_position',
            default_value='False'),
        launch.actions.DeclareLaunchArgument(
            'output_location',
	    default_value='ekf2.txt'),
	    ekf_node,
        test_ekf_localization_node_bag2,
        launch.actions.RegisterEventHandler(
            event_handler=launch.event_handlers.OnProcessExit(
                target_action=test_ekf_localization_node_bag2,
                on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
            )),
    ])