49 lines
1.5 KiB
Python
49 lines
1.5 KiB
Python
|
import os
|
||
|
|
|
||
|
|
from ament_index_python.packages import get_package_share_directory
|
||
|
|
|
||
|
|
from launch import LaunchDescription
|
||
|
|
from launch_ros.actions import Node
|
||
|
|
|
||
|
|
import xacro
|
||
|
|
|
||
|
|
package_description = "anymal_c_description"
|
||
|
|
|
||
|
|
def process_xacro():
|
||
|
|
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||
|
|
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||
|
|
robot_description_config = xacro.process_file(xacro_file)
|
||
|
|
return robot_description_config.toxml()
|
||
|
|
def generate_launch_description():
|
||
|
|
|
||
|
|
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
|
||
|
|
robot_description = process_xacro()
|
||
|
|
|
||
|
|
return LaunchDescription([
|
||
|
|
Node(
|
||
|
|
package='rviz2',
|
||
|
|
executable='rviz2',
|
||
|
|
name='rviz_ocs2',
|
||
|
|
output='screen',
|
||
|
|
arguments=["-d", rviz_config_file]
|
||
|
|
),
|
||
|
|
Node(
|
||
|
|
package='robot_state_publisher',
|
||
|
|
executable='robot_state_publisher',
|
||
|
|
name='robot_state_publisher',
|
||
|
|
output='screen',
|
||
|
|
parameters=[
|
||
|
|
{
|
||
|
|
'publish_frequency': 100.0,
|
||
|
|
'use_tf_static': True,
|
||
|
|
'robot_description': robot_description
|
||
|
|
}
|
||
|
|
],
|
||
|
|
),
|
||
|
|
Node(
|
||
|
|
package='joint_state_publisher_gui',
|
||
|
|
executable='joint_state_publisher_gui',
|
||
|
|
name='joint_state_publisher',
|
||
|
|
output='screen',
|
||
|
|
)
|
||
|
|
])
|