From b861ff349c6426f6da212bf4b24b5f986f1f9353 Mon Sep 17 00:00:00 2001
From: VishGit1234 <vishalschool1234@gmail.com>
Date: Wed, 16 Oct 2024 22:24:00 +0000
Subject: [PATCH] Template for robot_localization

---
 src/world_modeling/localization/CMakeLists.txt    |  8 +++++++-
 .../localization/config/config.yaml               |  0
 .../localization/launch/localization.launch.py    | 15 +++++++++++++++
 src/world_modeling/localization/package.xml       |  5 +++--
 4 files changed, 25 insertions(+), 3 deletions(-)
 create mode 100644 src/world_modeling/localization/config/config.yaml
 create mode 100755 src/world_modeling/localization/launch/localization.launch.py

diff --git a/src/world_modeling/localization/CMakeLists.txt b/src/world_modeling/localization/CMakeLists.txt
index 2ca2488f..65a15a8b 100644
--- a/src/world_modeling/localization/CMakeLists.txt
+++ b/src/world_modeling/localization/CMakeLists.txt
@@ -9,6 +9,12 @@ endif()
 find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(robot_localization REQUIRED)
+
+# Copy launch and config files to installation location
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME})
 
 ament_package()
diff --git a/src/world_modeling/localization/config/config.yaml b/src/world_modeling/localization/config/config.yaml
new file mode 100644
index 00000000..e69de29b
diff --git a/src/world_modeling/localization/launch/localization.launch.py b/src/world_modeling/localization/launch/localization.launch.py
new file mode 100755
index 00000000..7d95d79a
--- /dev/null
+++ b/src/world_modeling/localization/launch/localization.launch.py
@@ -0,0 +1,15 @@
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+import os
+
+
+def generate_launch_description():
+    """Launch localization node."""
+
+    return LaunchDescription([
+      
+    ])
diff --git a/src/world_modeling/localization/package.xml b/src/world_modeling/localization/package.xml
index cd036ff7..6ab7545d 100644
--- a/src/world_modeling/localization/package.xml
+++ b/src/world_modeling/localization/package.xml
@@ -3,11 +3,12 @@
 <package format="3">
   <name>localization</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="e23zhou@uwaterloo.ca">bolty</maintainer>
+  <description>Localization using robot_localization package</description>
+  <maintainer email="v3jayaku@watonomous.ca">Vishal Jayakumar</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>robot_localization</depend>
 
 
   <export>