motion_capture.launch.py

Go to the documentation of this file.

import os
 
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
 
 
def generate_launch_description():
    pkg_share_dir = os.path.join(
        get_package_share_directory('pointcloud_motion_capture'))
 
    pc_reader_config = os.path.join(pkg_share_dir, 'config', 'pc_reader.yaml')
    motion_capture_config = os.path.join(pkg_share_dir, 'config', 'motion_capture.yaml')
 
    return LaunchDescription([
        Node(
            package='pointcloud_motion_capture',
            executable='point_cloud_reader',
            output='screen',
            parameters=[pc_reader_config],
        ),
 
        Node(
            package='pointcloud_motion_capture',
            executable='motion_capture',
            output='screen',
            parameters=[motion_capture_config],
        ),
    ])