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https://github.com/bjoernellens1/cps_rmp220_support.git
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57 lines
1.8 KiB
Python
57 lines
1.8 KiB
Python
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, Command, FindExecutable, PathJoinSubstitution
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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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namespace = "/rmp"
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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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use_ros2_control = LaunchConfiguration('use_ros2_control')
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# Process the URDF file
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pkg_path = os.path.join(get_package_share_directory('cps_rmp220_support'))
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xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro')
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robot_description_config = Command(['xacro ', xacro_file, ' use_ros2_control:=', use_ros2_control, ' sim_mode:=', use_sim_time])
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# Create a robot_state_publisher node
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params = {'robot_description': robot_description_config, '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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#namespace=namespace
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)
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node_joint_state_publisher = Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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output='screen',
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parameters=[params],
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#namespace=namespace
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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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DeclareLaunchArgument(
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'use_ros2_control',
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default_value='true',
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description='Use ros2_control if true'),
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node_robot_state_publisher,
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node_joint_state_publisher
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])
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