Initial Commit

launch/utils/launch_helpers.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+"""Launch file helper utilities."""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def get_package_share_path(package_name):
+    return get_package_share_directory(package_name)
+
+
+def get_config_path(package_name, config_file):
+    return os.path.join(get_package_share_path(package_name), 'config', config_file)
+
+
+def get_world_path(package_name, world_file):
+    return os.path.join(get_package_share_path(package_name), 'worlds', world_file)
+
+
+def get_model_path(package_name, model_name):
+    return os.path.join(get_package_share_path(package_name), 'models', model_name)