14f160bba4
## Issue - **openarm_bringup/openarm.launch.py** was launching rviz2 with an incorrect configuration file. - The same launch script is intended to execute xacro with a configurable prefix and support mock hardware. However, these features were not functioning as the required arguments and plugin initialization were missing from the xacro files. ## Fix - Updated the rviz configuration path to the correct file. - Added the necessary arguments and plugin setup to the relevant xacro files to enable prefix configuration and mock hardware support.
26 lines
1.1 KiB
XML
26 lines
1.1 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
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<xacro:arg name="prefix" default="" />
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<xacro:arg name="use_mock_hardware" default="false" />
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<xacro:arg name="mock_sensor_commands" default="false" />
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<xacro:include filename="openarm.xacro"/>
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<xacro:openarm prefix="$(arg prefix)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
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<xacro:include filename="$(find openarm_description)/urdf/openarm_sensors.xacro"/>
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</robot>
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