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https://github.com/bjoernellens1/cps_rmp220_support.git
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42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
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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.substitutions import LaunchConfiguration
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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import xacro
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def generate_launch_description():
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# Check if we're told to use sim time
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use_sim_time = LaunchConfiguration('use_sim_time')
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# Process the URDF file
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pkg_path = os.path.join(get_package_share_directory('my_bot'))
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xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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# Create a robot_state_publisher node
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params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
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node_robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[params]
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)
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# Launch!
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use sim time if true'),
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node_robot_state_publisher
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])
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