59 lines
2.3 KiB
Python
59 lines
2.3 KiB
Python
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# Copyright (c) 2021 Franka Emika GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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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 Command, FindExecutable, LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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load_gripper_parameter_name = 'load_gripper'
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load_gripper = LaunchConfiguration(load_gripper_parameter_name)
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franka_xacro_file = os.path.join(get_package_share_directory('franka_description'), 'robots',
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'panda_arm.urdf.xacro')
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robot_description = Command(
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[FindExecutable(name='xacro'), ' ', franka_xacro_file, ' hand:=', load_gripper])
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rviz_file = os.path.join(get_package_share_directory('franka_description'), 'rviz',
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'visualize_franka.rviz')
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return LaunchDescription([
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DeclareLaunchArgument(
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load_gripper_parameter_name,
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default_value='true',
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description='Use Franka Gripper as end-effector if true. Robot is loaded without '
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'end-effector otherwise'),
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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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output='screen',
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parameters=[{'robot_description': robot_description}],
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),
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Node(
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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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Node(package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['--display-config', rviz_file])
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])
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