templates/lms-nav2-gazebo-localization
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: templates/lms-nav2-gazebo-localization:8d6c0222badc3363bba08bc6b27cb6c10165e127
Branches Tags
templates/lms-nav2-gazebo-localization:main
..
compare: templates/lms-nav2-gazebo-localization:main
Branches Tags
templates/lms-nav2-gazebo-localization:main

2 Commits
8d6c0222ba .. main

Author SHA1 Message Date
chyoo 8a71804a29 merge: align localization template sources 2026-08-10 17:00:15 +09:00
chyoo 1a0f1d18ba fix(nav2): align localization with tested platform runtime 2026-08-10 16:59:44 +09:00
3 changed files with 7 additions and 2 deletions
Expand all files Collapse all files
src/localization_pkg/localization_pkg/localization_manager.py
+5
View File
@@ -6,6 +6,7 @@ from std_msgs.msg import String
import subprocess import subprocess
import json import json
import uuid
class LocalizationManager(Node): class LocalizationManager(Node):
def __init__(self): def __init__(self):
@@ -19,10 +20,14 @@ class LocalizationManager(Node):
) )
self.localization_process = None self.localization_process = None
self.config_received = False self.config_received = False
self.localization_session_id = uuid.uuid4().hex
self.declare_parameter('localization_mode', 'amcl') self.declare_parameter('localization_mode', 'amcl')
self.declare_parameter('database_path', '') self.declare_parameter('database_path', '')
self.localization_mode = self.get_parameter('localization_mode').value self.localization_mode = self.get_parameter('localization_mode').value
self.database_path = self.get_parameter('database_path').value self.database_path = self.get_parameter('database_path').value
self.localization_session_pub = self.create_publisher(String, '/localization_session_id', qos)
self.localization_session_pub.publish(String(data=self.localization_session_id))
self.get_logger().info(f'Localization session: {self.localization_session_id}')
self.create_subscription(String, '/vehicle_config', self.handle_config, qos_profile=qos) self.create_subscription(String, '/vehicle_config', self.handle_config, qos_profile=qos)