68 lines
2.2 KiB
Python
68 lines
2.2 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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user_debug_parameter_name = "user_debug"
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user_debug = LaunchConfiguration(user_debug_parameter_name)
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# prefix = LaunchConfiguration("prefix", default="go2/")
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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:=", user_debug]
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)
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rviz_file = os.path.join(
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get_package_share_directory("go2_description"), "launch", "visualize_go2.rviz"
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)
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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user_debug_parameter_name,
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default_value="false",
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description="debug or not",
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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="rviz2",
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# executable="rviz2",
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# name="rviz2",
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# arguments=["--display-config", rviz_file],
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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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)
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