hybrid_planning_demo.launch.py

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import launch
import os
import sys
 
from launch_ros.actions import Node
 
sys.path.append(os.path.dirname(__file__))
from hybrid_planning_common import (
    generate_common_hybrid_launch_description,
    get_robot_description,
    get_robot_description_semantic,
    load_yaml,
)
 
 
def generate_launch_description():
    # generate_common_hybrid_launch_description() returns a list of nodes to launch
    common_launch = generate_common_hybrid_launch_description()
    robot_description = get_robot_description()
    robot_description_semantic = get_robot_description_semantic()
 
    # Demo node
    common_hybrid_planning_param = load_yaml(
        "moveit_hybrid_planning", "config/common_hybrid_planning_params.yaml"
    )
    demo_node = Node(
        package="moveit_hybrid_planning",
        executable="hybrid_planning_demo_node",
        name="hybrid_planning_demo_node",
        output="screen",
        parameters=[
            get_robot_description(),
            get_robot_description_semantic(),
            common_hybrid_planning_param,
        ],
    )
 
    return launch.LaunchDescription(common_launch + [demo_node])