32 lines
1.1 KiB
Python
32 lines
1.1 KiB
Python
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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go2_xacro_file = os.path.join(
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get_package_share_directory("go2_description"), "xacro", "robot.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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return LaunchDescription([
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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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])
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