65 lines
1.9 KiB
Python
65 lines
1.9 KiB
Python
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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, OpaqueFunction
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from launch_ros.actions import Node
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import xacro
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package_description = "b2_description"
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def process_xacro(context):
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robot_type_value = context.launch_configurations['robot_type']
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pkg_path = os.path.join(get_package_share_directory(package_description))
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xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
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robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
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return robot_description_config.toxml()
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def launch_setup(context, *args, **kwargs):
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robot_description = process_xacro(context)
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return [
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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=[
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{
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'publish_frequency': 100.0,
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'use_tf_static': True,
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'robot_description': robot_description
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}
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],
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),
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Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher',
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output='screen',
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)
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]
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def generate_launch_description():
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robot_type_arg = DeclareLaunchArgument(
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'robot_type',
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default_value='go2',
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description='Type of the robot'
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)
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rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
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return LaunchDescription([
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robot_type_arg,
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OpaqueFunction(function=launch_setup),
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz_ocs2',
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output='screen',
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arguments=["-d", rviz_config_file]
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)
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])
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