Add example launch file for dual_ekf_navsat (#611)

* Add example launch file for dual_ekf_navsat

* Removed license

* keep only OSRF in license

Author: jediofgever

launch/dual_ekf_navsat_example.launch.py

@@ -0,0 +1,66 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+import launch_ros.actions
+import os
+import yaml
+from launch.substitutions import EnvironmentVariable
+import pathlib
+import launch.actions
+from launch.actions import DeclareLaunchArgument
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    robot_localization_dir = get_package_share_directory('robot_localization')
+    parameters_file_dir = os.path.join(robot_localization_dir, 'params')
+    parameters_file_path = os.path.join(parameters_file_dir, 'dual_ekf_navsat_example.yaml')
+    os.environ['FILE_PATH'] = str(parameters_file_dir)
+    return LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            'output_final_position',
+            default_value='false'),
+        launch.actions.DeclareLaunchArgument(
+            'output_location',
+	    default_value='~/dual_ekf_navsat_example_debug.txt'),
+	
+    launch_ros.actions.Node(
+            package='robot_localization', 
+            executable='ekf_node', 
+            name='ekf_filter_node_odom',
+	        output='screen',
+            parameters=[parameters_file_path],
+            remappings=[('odometry/filtered', 'odometry/local')]           
+           ),
+    launch_ros.actions.Node(
+            package='robot_localization', 
+            executable='ekf_node', 
+            name='ekf_filter_node_map',
+	        output='screen',
+            parameters=[parameters_file_path],
+            remappings=[('odometry/filtered', 'odometry/global')]
+           ),           
+    launch_ros.actions.Node(
+            package='robot_localization', 
+            executable='navsat_transform_node', 
+            name='navsat_transform',
+	        output='screen',
+            parameters=[parameters_file_path],
+            remappings=[('imu/data', 'imu/data'),
+                        ('gps/fix', 'gps/fix'), 
+                        ('gps/filtered', 'gps/filtered'),
+                        ('odometry/gps', 'odometry/gps'),
+                        ('odometry/filtered', 'odometry/global')]           
+
+           )           
+])