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[ros2_driver] Following updates made to ros2_driver/src/ti_mmwave_rospkg:

Browse Source 
1. Updated CMakeLists.txt to install the "cfg" folder.
2. Path to .cfg file is now set using get_package_share_directory().
3. Updated 6843*.py launch files to add a feature optionally disable rViz with an launch argument "rviz". To disable rViz, pass "rviz:=false" in the launch command.
This commit is contained in:
JuneChul Roh
2023-11-16 14:26:42 -06:00
parent edd540a91d
commit e2311daf1a
11 changed files with 244 additions and 162 deletions
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4
ros2_driver/src/ti_mmwave_rospkg/CMakeLists.txt
View File

@@ -224,6 +224,10 @@ install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}
)
install(DIRECTORY
cfg
DESTINATION share/${PROJECT_NAME}
)
install(TARGETS
mmWaveCommSrv
DESTINATION lib/${PROJECT_NAME}

13
ros2_driver/src/ti_mmwave_rospkg/launch/1443_Standard.py
View File

@@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1443_Standard.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','1443_Standard.cfg')
device = "1443"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
@@ -49,7 +49,7 @@ def generate_launch_description():
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -90,10 +90,9 @@ def generate_launch_description():
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
)
ld.add_action(global_param_node)

13
ros2_driver/src/ti_mmwave_rospkg/launch/1642_Standard.py
View File

@@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1642_Standard.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','1642_Standard.cfg')
name = "/mmWaveCLI"
device = "1642"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
@@ -49,7 +49,7 @@ def generate_launch_description():
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -90,10 +90,9 @@ def generate_launch_description():
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
)
ld.add_action(global_param_node)

13
ros2_driver/src/ti_mmwave_rospkg/launch/1843_Standard.py
View File

@@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1843_Standard.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','1843_Standard.cfg')
device = "1843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
@@ -49,7 +49,7 @@ def generate_launch_description():
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -90,10 +90,9 @@ def generate_launch_description():
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
)
ld.add_action(global_param_node)

12
ros2_driver/src/ti_mmwave_rospkg/launch/6432_Standard.py
View File

@@ -11,14 +11,14 @@ from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6432_Standard_Uncompressed.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6432_Standard_Uncompressed.cfg')
device = "6432"
name = "/mmWaveCLI"
command_port = "/dev/ttyACM0"
command_rate = "115200"
data_port = "/dev/ttyACM0"
data_rate = "115200"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
@@ -52,7 +52,7 @@ def generate_launch_description():
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -79,7 +79,7 @@ def generate_launch_description():
)
delay = TimerAction(
period=5.0,
period=5.0,
actions=[Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
@@ -97,7 +97,7 @@ def generate_launch_description():
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
)]
)
@@ -108,4 +108,4 @@ def generate_launch_description():
ld.add_action(delay)
return ld

66
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py
View File

@@ -1,23 +1,32 @@
import os
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Standard.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Standard.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
my_package_dir,
'config',
@@ -32,24 +41,24 @@ def generate_launch_description():
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -89,13 +98,16 @@ def generate_launch_description():
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
@@ -103,4 +115,4 @@ def generate_launch_description():
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld
return ld

66
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py
View File

@@ -1,23 +1,32 @@
import os
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Tracking.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
my_package_dir,
'config',
@@ -32,24 +41,24 @@ def generate_launch_description():
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -89,13 +98,16 @@ def generate_launch_description():
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
@@ -103,4 +115,4 @@ def generate_launch_description():
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld
return ld

66
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py
View File

@@ -1,23 +1,32 @@
import os
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISK_Occupancy.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Occupancy.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
my_package_dir,
'config',
@@ -32,24 +41,24 @@ def generate_launch_description():
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -89,13 +98,16 @@ def generate_launch_description():
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
@@ -103,4 +115,4 @@ def generate_launch_description():
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld
return ld

66
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py
View File

@@ -1,23 +1,32 @@
import os
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISK_Standard.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Standard.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
my_package_dir,
'config',
@@ -32,24 +41,24 @@ def generate_launch_description():
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -89,13 +98,16 @@ def generate_launch_description():
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
@@ -103,4 +115,4 @@ def generate_launch_description():
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld
return ld

66
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py
View File

@@ -1,23 +1,32 @@
import os
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Tracking.cfg";
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
ld = LaunchDescription()
ConfigParameters = os.path.join(
my_package_dir,
'config',
@@ -32,24 +41,24 @@ def generate_launch_description():
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
@@ -89,13 +98,16 @@ def generate_launch_description():
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
@@ -103,4 +115,4 @@ def generate_launch_description():
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld
return ld

21
ros2_driver/src/ti_mmwave_rospkg/launch/rviz_launch.py Normal file
View File

@@ -0,0 +1,21 @@
import os
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')]
)
ld = LaunchDescription([
Rviz2
])
return ld