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