mirror of https://github.com/fan-ziqi/rl_sar.git
83 lines
2.2 KiB
Python
83 lines
2.2 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.substitutions import LaunchConfiguration
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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from launch.conditions import IfCondition
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import xacro
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def generate_launch_description():
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####### DATA INPUT ##########
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# urdf_file = 'moonbotX.urdf'
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package_description = "a1_description"
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use_sim_time = LaunchConfiguration('use_sim_time')
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use_joint_state_publisher = LaunchConfiguration('use_joint_state_publisher')
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# Process the URDF file
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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)
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jsp_arg = DeclareLaunchArgument(
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'use_joint_state_publisher',
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default_value='True'
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)
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# Create a robot_state_publisher node
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params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
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robot_state_publisher_node = 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_node',
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emulate_tty=True,
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output='screen',
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parameters=[params]
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)
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# Joint State Publisher
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joint_state_publisher_node = Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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output='screen',
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condition=IfCondition(use_joint_state_publisher)
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)
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# RVIZ Configuration
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rviz_config_dir = os.path.join(
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get_package_share_directory(package_description),
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'launch',
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'check_joint.rviz'
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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output='screen',
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name='rviz_node',
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parameters=[{'use_sim_time': True}],
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arguments=['-d', rviz_config_dir]
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)
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use sim time if true'),
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jsp_arg,
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# map_publisher_node,
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robot_state_publisher_node,
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joint_state_publisher_node,
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rviz_node
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])
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