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_rev_1_0_lidar.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]), ])