78 lines
2.6 KiB
Python
78 lines
2.6 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(
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launch_ros.substitutions.FindPackageShare(package="openarm_description").find(
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"openarm_description"
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)
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)
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default_model_path = pkg_share / "urdf/openarm.urdf.xacro"
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model_arg = 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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side_arg = DeclareLaunchArgument(
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name="side", default_value="right", # Use "left" to test left arm.
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description="Select arm side: 'left' or 'right'"
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)
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zero_pos_arg = DeclareLaunchArgument(
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name="zero_pos", default_value="up", # Use "arm" to test alternative configuration.
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description="Specify zero position: 'up' or 'arm'"
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)
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prefix_arg = DeclareLaunchArgument(
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name="prefix", default_value="",
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description="Prefix for link and joint names (e.g., left_, right_)"
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)
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can_device_arg = DeclareLaunchArgument(
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name="can_device", default_value="can0",
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description="CAN device identifier to use"
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)
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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_description_command = Command([
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"xacro ", LaunchConfiguration("model"),
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" side:=", LaunchConfiguration("side"),
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" zero_pos:=", LaunchConfiguration("zero_pos"),
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" prefix:=", LaunchConfiguration("prefix"),
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" can_device:=", LaunchConfiguration("can_device")
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])
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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(
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robot_description_command, value_type=str
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),
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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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[
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model_arg,
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side_arg,
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zero_pos_arg,
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prefix_arg,
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can_device_arg,
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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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)
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