28 lines
1010 B
Python
28 lines
1010 B
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
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time', default='false')
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urdf = '../../resources/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf'
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with open(urdf, 'r') as infp:
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robot_desc = infp.read()
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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 simulation (Gazebo) clock if true'),
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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=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}],
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arguments=[urdf]),
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])
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