# Copyright 2022 Factor Robotics # # 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 launch import LaunchDescription from launch.substitutions import Command, FindExecutable, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from ament_index_python.packages import get_package_share_directory from launch_ros.actions import LifecycleNode from launch_ros.descriptions import ParameterValue def generate_launch_description(): robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( [ FindPackageShare("cps_loki_description"), "urdf", "odrive_diffbot.urdf.xacro" ] ), ] ) robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)} robot_state_pub_node = Node( package="robot_state_publisher", executable="robot_state_publisher", output="both", parameters=[robot_description], ) return LaunchDescription([ robot_state_pub_node ])