Rviz config file + params from share directory

Signed-off-by: Piotr Jaroszek <[email protected]>

kraken_nav/launch/navigation.launch.py

@@ -15,7 +15,7 @@ def generate_launch_description():
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([str(pathlib.Path(get_package_share_directory("nav2_bringup")).joinpath('launch', 'navigation_launch.py'))]),
             launch_arguments = {
-                'params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'navigation_params.yaml'))
+                'params_file': str(pathlib.Path(get_package_share_directory("o3de_kraken_nav")).joinpath('launch', 'config', 'navigation_params.yaml'))
             }.items()
         ),
         Node(
@@ -34,7 +34,7 @@ def generate_launch_description():
                 'stdout': 'log',
             },
             arguments=[
-                '-d', str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'config.rviz')),
+                '-d', str(pathlib.Path(get_package_share_directory("o3de_kraken_nav")).joinpath('launch', 'config', 'config.rviz')),
             ]
         ),
     ])

kraken_nav/setup.py

@@ -13,6 +13,7 @@ setup(
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name + "/launch/config", glob('launch/config/*.yaml')),
         ('share/' + package_name + "/launch/config", glob('launch/config/*.xml')),
+        ('share/' + package_name + "/launch/config", glob('launch/config/*.rviz')),
         ('share/' + package_name + "/launch", glob('launch/*.launch.py')),
         ('share/' + package_name + "/launch", glob('launch/*.xml')),
     ],