Added specific launch file for each platform

Author: midemig

local_navigation/config/params_perro.yaml

@@ -0,0 +1,9 @@
+gridmap_updater_node:
+  ros__parameters:
+    use_sim_time: true
+    camera_info_topic: /camera/color/camera_info
+    camera_topic: /camera/color/image_raw
+    # camera_topic: /camera/semseg/image
+    map_frame: map
+    robot_frame: base_link
+    camera_frame: camera_color_optical_frame

local_navigation/config/params_summit.yaml

@@ -0,0 +1,9 @@
+gridmap_updater_node:
+  ros__parameters:
+    use_sim_time: true
+    camera_info_topic: /zed2/zed_node/rgb/camera_info
+    camera_topic: /zed2/zed_node/rgb/image_rect_color
+    lidar_topic: /robot/front_laser/points
+    map_frame: map
+    robot_frame: robot_base_link
+    camera_frame: zed2_left_camera_optical_frame

local_navigation/launch/local_navigation_perro.launch.py

@@ -0,0 +1,58 @@
+# Copyright 2024 Intelligent Robotics Lab
+#
+# 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.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory('local_navigation')
+    param_file = os.path.join(pkg_dir, 'config', 'params_perro.yaml')
+
+    lidarslam_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(
+            get_package_share_directory('lidarslam'),
+            'launch',
+            'lidarslam_perro.launch.py')))
+
+    statictf_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(
+            get_package_share_directory('go2_description'),
+            'launch',
+            'robot.launch.py')))
+    
+
+
+    local_navigation_cmd = Node(package='local_navigation',
+                                executable='local_navigation_program',
+                                output='screen',
+                                parameters=[param_file],
+                                # prefix=['xterm -e gdb -ex run  --args'],
+                                # prefix=['perf record --call-graph dwarf -o perf.data'],
+                                arguments=[],
+                                remappings=[])
+
+    ld = LaunchDescription()
+    ld.add_action(local_navigation_cmd)
+    ld.add_action(lidarslam_cmd)
+    ld.add_action(statictf_cmd)
+
+    return ld

local_navigation/launch/local_navigation_summit.launch.py

@@ -0,0 +1,49 @@
+# Copyright 2024 Intelligent Robotics Lab
+#
+# 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.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory('local_navigation')
+    param_file = os.path.join(pkg_dir, 'config', 'params_summit.yaml')
+
+    lidarslam_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(
+            get_package_share_directory('lidarslam'),
+            'launch',
+            'lidarslam_summit.launch.py')))
+
+    local_navigation_cmd = Node(package='local_navigation',
+                                executable='local_navigation_program',
+                                output='screen',
+                                parameters=[param_file],
+                                # prefix=['xterm -e gdb -ex run  --args'],
+                                # prefix=['perf record --call-graph dwarf -o perf.data'],
+                                arguments=[],
+                                remappings=[])
+
+    ld = LaunchDescription()
+    ld.add_action(local_navigation_cmd)
+    ld.add_action(lidarslam_cmd)
+
+    return ld