Eric 的小站

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map_file = DeclareLaunchArgument(
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    'map_file',
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    default_value=os.path.join(
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        # get_package_share_directory('robot_navigation'),
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        os.path.expanduser('这里修改为map的目录'),
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        'maps',
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        'map.yaml'
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    ),
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    description='Path to the map file (YAML)'
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)
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map_server_node = LifecycleNode(
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    package='nav2_map_server',
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    executable='map_server',
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    name='map_server',
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    namespace='',
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    output='screen',
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    parameters=[{
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            'yaml_filename': LaunchConfiguration('map_file'),
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            'frame_id': 'map',
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            'topic_name': LaunchConfiguration('map_topic'),
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            'use_sim_time': False
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        }]
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)

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configure_map_server = EmitEvent(
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    event=ChangeState(
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        lifecycle_node_matcher=lambda node: node == map_server_node,
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        transition_id=Transition.TRANSITION_CONFIGURE
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    )
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)
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activate_map_server = EmitEvent(
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    event=ChangeState(
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        lifecycle_node_matcher=lambda node: node == map_server_node,
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        transition_id=Transition.TRANSITION_ACTIVATE
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    )
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)

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from launch.actions import EmitEvent
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from launch_ros.events.lifecycle import ChangeState

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return LaunchDescription([
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    map_server_node,
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    configure_map_server,
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    activate_map_server
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])