35 lines
814 B
Python
35 lines
814 B
Python
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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ld = LaunchDescription()
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turtlesim_node = Node(
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package="turtlesim",
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executable="turtlesim_node",
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)
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turtle_spawner_node = Node(
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package="turtlesim_catch_them_all",
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executable="turtle_spawner",
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parameters=[
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{"catch_closest_turtle_first": True}
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]
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)
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turtle_controller_node = Node(
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package="turtlesim_catch_them_all",
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executable="turtle_controller",
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parameters=[
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{"spawn_frequency": 2.0},
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{"turtle_name_prefix": "sim_turtle"}
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]
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)
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ld.add_action(turtlesim_node)
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ld.add_action(turtle_spawner_node)
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ld.add_action(turtle_controller_node)
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return ld
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