24 lines
625 B
Python
24 lines
625 B
Python
import os.path
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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from launch.conditions import IfCondition
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def generate_launch_description():
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ld = LaunchDescription()
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rviz2 = Node(
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package='rviz2',
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executable='rviz2',
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arguments=['-d', f"{os.path.join(get_package_share_directory('sherpa'), 'config', 'sherpa.rviz')}"]
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)
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ld.add_action(rviz2)
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return ld
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