Yoo Hee Sung
74 lines
2.1 KiB
Python
74 lines
2.1 KiB
Python
from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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share_dir = get_package_share_directory('duru_urdf_description')
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xacro_file = os.path.join(share_dir, 'urdf', 'duru_urdf.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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robot_urdf = robot_description_config.toxml()
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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',
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parameters=[
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{'robot_description': robot_urdf}
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]
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)
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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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name='joint_state_publisher'
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)
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gazebo_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('gazebo_ros'),
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'launch',
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'gzserver.launch.py'
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])
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]),
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launch_arguments={
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'pause': 'true'
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}.items()
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)
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gazebo_client = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('gazebo_ros'),
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'launch',
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'gzclient.launch.py'
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])
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])
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)
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urdf_spawn_node = Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=[
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'-entity', 'duru_urdf',
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'-topic', 'robot_description'
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],
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output='screen'
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)
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return LaunchDescription([
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robot_state_publisher_node,
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joint_state_publisher_node,
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gazebo_server,
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gazebo_client,
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urdf_spawn_node,
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])
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