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Launch heartbeat in physical bringup #236

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merged 2 commits into from
Jan 26, 2025
Merged

Launch heartbeat in physical bringup #236

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058365d
launch heartbeat in physical bringup
mrinalTheCoder Jan 15, 2025
4b8880b
added rosbridge to simulation
mrinalTheCoder Jan 15, 2025
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26 changes: 16 additions & 10 deletions urc_bringup/launch/bringup.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,12 @@ def generate_launch_description():
get_package_share_directory("urc_bringup"), "config", "nmea_serial_driver.yaml"
)

heartbeat_node = Node(
package="urc_bringup",
executable="urc_bringup_HeartbeatPublisher",
parameters=[{"heartbeatInterval": 1000}],
)

control_node = Node(
package="controller_manager",
executable="ros2_control_node",
Expand All @@ -69,7 +75,7 @@ def generate_launch_description():
load_joint_state_broadcaster = Node(
package="controller_manager",
executable="spawner",
arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"]
arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"],
)

load_drivetrain_controller = Node(
Expand All @@ -81,7 +87,7 @@ def generate_launch_description():
load_status_light_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["-p", controller_config_file_dir, "status_light_controller"]
arguments=["-p", controller_config_file_dir, "status_light_controller"],
)

twist_mux_node = Node(
Expand All @@ -93,17 +99,17 @@ def generate_launch_description():
launch_gps = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
pkg_nmea_navsat_driver,
"launch", "nmea_serial_driver.launch.py"
pkg_nmea_navsat_driver, "launch", "nmea_serial_driver.launch.py"
)
)
)

launch_gps = Node(
package='nmea_navsat_driver',
executable='nmea_serial_driver',
output='screen',
parameters=[gps_config])
package="nmea_navsat_driver",
executable="nmea_serial_driver",
output="screen",
parameters=[gps_config],
)

launch_vectornav = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
Expand All @@ -128,8 +134,7 @@ def generate_launch_description():
)

odom_frame_node = Node(
package="urc_tf", executable="urc_tf_WorldFrameBroadcaster",
output="screen"
package="urc_tf", executable="urc_tf_WorldFrameBroadcaster", output="screen"
)

return LaunchDescription(
Expand All @@ -154,5 +159,6 @@ def generate_launch_description():
rosbridge_server_node,
odom_frame_node,
launch_vectornav,
heartbeat_node,
]
)
8 changes: 8 additions & 0 deletions urc_bringup/launch/bringup_simulation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,13 @@ def generate_launch_description():
],
)

rosbridge_server_node = Node(
package="rosbridge_server",
name="rosbridge_server",
executable="rosbridge_websocket.py",
parameters=[{"port": 9090}],
)

load_robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
Expand Down Expand Up @@ -218,5 +225,6 @@ def generate_launch_description():
load_robot_state_publisher,
spawn_robot,
map_to_odom_transform_node,
rosbridge_server_node,
]
)
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