from launch.substitutions import LaunchConfiguration from ament_index_python.packages import get_package_share_directory import os + def generate_launch_description(): # Get the path to the config file

'config', 'params.yaml' ) - + # Declare launch arguments can_interface_arg = DeclareLaunchArgument( 'can_interface', default_value='can0', description='Name of the CAN interface to use (e.g., can0)' ) - + publish_rate_arg = DeclareLaunchArgument( 'publish_rate_hz', default_value='50', description='Rate in Hz at which to check for CAN messages' ) - + # Create the CAN node can_node = Node( package='can',

}], output='screen' ) - + # ============================================================================ # TEST CONTROLLER NODE (for development/testing only) # Comment out the following section if you want to disable the test controller

# ============================================================================ # End of test controller section # ============================================================================ - + # Return the launch description return LaunchDescription([ can_interface_arg,

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