From 86779e896dc71c1a659e9ee6c01487d5563d5bd6 Mon Sep 17 00:00:00 2001 From: yjinzero Date: Thu, 13 Feb 2025 22:05:29 +0900 Subject: [PATCH] state pub --- deploy/deploy_real/state_pub.launch.py | 28 ++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 deploy/deploy_real/state_pub.launch.py diff --git a/deploy/deploy_real/state_pub.launch.py b/deploy/deploy_real/state_pub.launch.py new file mode 100644 index 0000000..d709ff4 --- /dev/null +++ b/deploy/deploy_real/state_pub.launch.py @@ -0,0 +1,28 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + + urdf = '../../resources/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf' + with open(urdf, 'r') as infp: + robot_desc = infp.read() + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true'), + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}], + arguments=[urdf]), + ]) \ No newline at end of file