2024-05-05 02:03:03 +08:00
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import ThisLaunchFileDir
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from launch_ros.actions import Node
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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2024-05-05 02:46:28 +08:00
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# go2_xacro_file = os.path.join(
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# get_package_share_directory("go2_description"), "xacro", "robot_virtual_arm.xacro"
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# )
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# robot_description = Command(
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# [FindExecutable(name="xacro"), " ", go2_xacro_file, " DEBUG:=", 'false']
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# )
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2024-05-05 02:03:03 +08:00
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return LaunchDescription([
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# launch the pointcloud to laser scan converter
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Node(
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package='go2py_bridge',
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executable='bridge',
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name='go2py_bridge'
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),
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# Node(
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# package="robot_state_publisher",
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# executable="robot_state_publisher",
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# name="robot_state_publisher",
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# output="screen",
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# parameters=[{"robot_description": robot_description}],
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# remappings=[
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# ("/joint_states", "/go2/joint_states"),
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# ("/robot_description", "/go2/robot_description"),
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# ],
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# ),
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# Node(
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# package="tf2_ros",
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# executable="static_transform_publisher",
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# arguments=[
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# "0.15",
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# "0",
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# "0.15",
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# "0",
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# "0",
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# "0.707107",
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# "0.707107",
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# "/trunk",
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# "/go2/hesai_lidar",
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# ],
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# name="static_tf_pub_trunk_to_lidar",
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# ),
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])
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