40 lines
1.4 KiB
Python
40 lines
1.4 KiB
Python
from pathlib import Path
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import launch
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from launch.substitutions import Command
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from launch.substitutions import LaunchConfiguration
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from launch.actions import DeclareLaunchArgument
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import launch_ros
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from launch_ros.parameter_descriptions import ParameterValue
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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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use_sim_time = LaunchConfiguration('use_sim_time')
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use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
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robot_state_publisher_node = launch_ros.actions.Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[
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{
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# ParameterValue is required to avoid being interpreted as YAML.
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'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), value_type=str),
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'use_sim_time': use_sim_time,
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},
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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='model',
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default_value=str(default_model_path),
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description="Absolute path to the robot's URDF file",
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),
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use_sim_time_launch_arg,
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robot_state_publisher_node,
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])
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