35 lines
879 B
Python
35 lines
879 B
Python
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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remap_number_topic = ("number", "my_number")
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number_publisher_node = Node(
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package="my_py_pkg",
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executable="number_publisher",
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name="my_number_publisher",
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remappings=[
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remap_number_topic
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],
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parameters=[
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{"number_to_publish": 59999},
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{"publish_frequency": 10.0}
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]
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)
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number_counter_node = Node(
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package="my_cpp_pkg",
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executable="number_counter",
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name="my_number_counter",
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remappings=[
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remap_number_topic,
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("number_count", "my_number_count")
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]
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)
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ld.add_action(number_publisher_node)
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ld.add_action(number_counter_node)
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return ld |