Yoo Hee Sung
65 lines
1.8 KiB
Python
65 lines
1.8 KiB
Python
from launch_ros.actions import Node
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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.conditions import IfCondition, UnlessCondition
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import xacro
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import os
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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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rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz')
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gui_arg = DeclareLaunchArgument(
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name='gui',
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default_value='True'
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)
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show_gui = LaunchConfiguration('gui')
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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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condition=UnlessCondition(show_gui),
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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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joint_state_publisher_gui_node = Node(
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condition=IfCondition(show_gui),
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui'
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_file],
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output='screen'
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)
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return LaunchDescription([
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gui_arg,
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robot_state_publisher_node,
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joint_state_publisher_node,
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joint_state_publisher_gui_node,
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rviz_node
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])
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