85 lines
2.9 KiB
Python
85 lines
2.9 KiB
Python
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from pathlib import Path
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import launch
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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import launch_ros
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from launch_ros.substitutions import FindPackageShare
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_description_2').find('openarm_description_2'))
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default_model_path = pkg_share / 'urdf/openarm_wrapper.urdf.xacro'
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default_rviz_config_path = pkg_share / 'rviz/robot_description.rviz'
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use_sim_time = LaunchConfiguration('use_sim_time')
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robot_state_publisher_node = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('openarm_description_2'),
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'launch',
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'description.launch.py',
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]),
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]),
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launch_arguments=dict(use_sim_time=use_sim_time).items(),
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)
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joint_state_publisher_node = launch_ros.actions.Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')),
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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joint_state_publisher_gui_node = launch_ros.actions.Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui',
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condition=launch.conditions.IfCondition(LaunchConfiguration('gui')),
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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rviz_node = launch_ros.actions.Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', LaunchConfiguration('rvizconfig')],
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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return launch.LaunchDescription([
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launch.actions.DeclareLaunchArgument(
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name='use_sim_time',
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default_value='false',
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description='Flag to enable usage of simulation time',
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),
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launch.actions.DeclareLaunchArgument(
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name='gui',
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default_value='True',
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description='Flag to enable joint_state_publisher_gui',
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),
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launch.actions.DeclareLaunchArgument(
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name='model',
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default_value=str(default_model_path),
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description='Absolute path to robot urdf file',
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),
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launch.actions.DeclareLaunchArgument(
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name='rvizconfig',
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default_value=str(default_rviz_config_path),
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description='Absolute path to rviz config file',
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),
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joint_state_publisher_node,
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joint_state_publisher_gui_node,
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robot_state_publisher_node,
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rviz_node,
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])
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