fix launch file

Author: mrinalTheCoder

urc_bringup/CMakeLists.txt

@@ -24,7 +24,6 @@ set(dependencies
   rclcpp_components
   std_msgs
   rosbridge_server
-  ublox_dgnss
 )
 
 ament_target_dependencies(${PROJECT_NAME}

urc_bringup/launch/bringup.launch.py

@@ -2,10 +2,10 @@
 from xacro import process_file
 import yaml
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetRemap
 from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
@@ -24,9 +24,7 @@ def load_yaml(package_name, file_path):
 
 def generate_launch_description():
     pkg_urc_bringup = get_package_share_directory("urc_bringup")
-    pkg_nmea_navsat_driver = FindPackageShare("nmea_navsat_driver").find(
-        "nmea_navsat_driver"
-    )
+    pkg_ublox_dgnss = get_package_share_directory("ublox_dgnss")
     pkg_urc_platform = get_package_share_directory("urc_platform")
 
     pkg_vectornav = get_package_share_directory("vectornav")
@@ -45,12 +43,6 @@ def generate_launch_description():
         xacro_file, mappings={"use_simulation": "false"}
     )
     robot_desc = robot_description_config.toxml()
-    # gps_config = os.path.join(
-    #     get_package_share_directory("urc_bringup"), "config", "nmea_serial_driver.yaml"
-    # )
-    gps_config = os.path.join(
-        get_package_share_directory("urc_localization"), "config", "rover_gps.yaml"
-    )
 
     control_node = Node(
         package="controller_manager",
@@ -93,18 +85,18 @@ def generate_launch_description():
         name="twist_mux",
     )
 
-    # launch_gps = Node(
-    #     package="nmea_navsat_driver",
-    #     executable="nmea_serial_driver",
-    #     output="screen",
-    #     parameters=[gps_config],
-    # )
-    launch_gps = Node(
-        package="ublox_gps",
-        executable="ublox_gps_node",
-        name="ublox_gps_node_rover",
-        output="screen",
-        parameters=[gps_config, {"device": "/dev/ttyACM0"}],  # DEBUG
+    launch_gps = GroupAction(
+        actions=[
+            SetRemap(src="/rover/fix", dst="/gps/data"),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(
+                        pkg_ublox_dgnss, "launch", "ublox_fb+r_rover.launch.py"
+                    )
+                ),
+                launch_arguments={"device_serial_string": "rover"}.items(),
+            ),
+        ]
     )
 
     launch_vectornav = IncludeLaunchDescription(
@@ -154,6 +146,6 @@ def generate_launch_description():
             launch_gps,
             rosbridge_server_node,
             odom_frame_node,
-            # launch_vectornav,
+            launch_vectornav,
         ]
     )

urc_bringup/package.xml

@@ -12,7 +12,6 @@
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>rosbridge_server</depend>
-  <depend>nmea_navsat_driver</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>