Slam is working now

Author: JesusSilvaUtrera

andino_gz/launch/slam_toolbox_online_async.launch.py

@@ -31,10 +31,11 @@
 import os
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
@@ -46,21 +47,19 @@ def generate_launch_description():
                                    'config', 'slam_toolbox_online_async.yaml'),
         description='Full path to the ROS 2 parameters file to use for the slam_toolbox node')
 
-    start_async_slam_toolbox_node = Node(
-        parameters=[
-          slam_params_file,
-          {
-            'use_sim_time': True
-          }
-        ],
-        package='slam_toolbox',
-        executable='async_slam_toolbox_node',
-        name='slam_toolbox',
-        output='screen')
+    async_slam_toolbox_launch = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource(
+        os.path.join(get_package_share_directory("slam_toolbox"),
+                       'launch', 'online_async_launch.py')
+      ),
+      launch_arguments={
+        'slam_params_file': slam_params_file
+      }.items(),
+    )
 
     ld = LaunchDescription()
 
     ld.add_action(declare_slam_params_file_cmd)
-    ld.add_action(start_async_slam_toolbox_node)
+    ld.add_action(async_slam_toolbox_launch)
 
     return ld