uncomment bridge & camera

dawan0111 · Aug 25, 2023 · 82760dd · 82760dd
1 parent f8d58dc
commit 82760dd
Showing 1 changed file with 9 additions and 9 deletions.
diff --git a/yacyac_bringup/launch/robot_description.launch.py b/yacyac_bringup/launch/robot_description.launch.py
@@ -23,15 +23,15 @@ def generate_launch_description():
     )
 
     # # tracer mini package
-    # yacyac_camera_prefix = get_package_share_directory("yacyac_camera")
-    # start_yacyac_camera_cmd = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(os.path.join(yacyac_camera_prefix, "launch", "camera.launch.py"))
-    # )
+    yacyac_camera_prefix = get_package_share_directory("yacyac_camera")
+    start_yacyac_camera_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(yacyac_camera_prefix, "launch", "camera.launch.py"))
+    )
 
     # # rosbridge websocket cmd
-    # start_web_bridge_cmd = ExecuteProcess(
-    #     cmd=["ros2", "launch", "rosbridge_server", "rosbridge_websocket_launch.xml"], output="screen"
-    # )
+    start_web_bridge_cmd = ExecuteProcess(
+        cmd=["ros2", "launch", "rosbridge_server", "rosbridge_websocket_launch.xml"], output="screen"
+    )
 
     # start_insta360_cmd = ExecuteProcess(
     #     cmd=["ros2", "run", "insta360_node", "insta360_node"], output="screen"
@@ -81,7 +81,7 @@ def generate_launch_description():
             base_to_imu_publisher,
             start_g2lidar_cmd,
             start_yacyac_cmd,
-            # start_web_bridge_cmd,
-            # start_yacyac_camera_cmd
+            start_web_bridge_cmd,
+            start_yacyac_camera_cmd
         ]
     )