Initial commit of duru_urdf package

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
2026-08-27 11:04:29 +09:00
commit e938b6921f
22 changed files with 813 additions and 0 deletions
@@ -0,0 +1,64 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+import xacro
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    share_dir = get_package_share_directory('duru_urdf_description')
+
+    xacro_file = os.path.join(share_dir, 'urdf', 'duru_urdf.xacro')
+    robot_description_config = xacro.process_file(xacro_file)
+    robot_urdf = robot_description_config.toxml()
+
+    rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz')
+
+    gui_arg = DeclareLaunchArgument(
+        name='gui',
+        default_value='True'
+    )
+
+    show_gui = LaunchConfiguration('gui')
+
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[
+            {'robot_description': robot_urdf}
+        ]
+    )
+
+    joint_state_publisher_node = Node(
+        condition=UnlessCondition(show_gui),
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher'
+    )
+
+    joint_state_publisher_gui_node = Node(
+        condition=IfCondition(show_gui),
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui'
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config_file],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        gui_arg,
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz_node
+    ])