add agvpro_display.rviz

2025-06-19 10:15:13 +08:00
parent 9cc3814cc4
commit b20f5a4faa
4 changed files with 285 additions and 4 deletions
@@ -0,0 +1,49 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    use_rviz = LaunchConfiguration('use_rviz', default='true')
+
+    rviz_config_dir = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'rviz',
+        'agvpro_display.rviz')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    with open(urdf_file, 'r') as file:
+        robot_description_content = file.read()
+
+    return LaunchDescription([
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{'robot_description': robot_description_content}]
+        ),
+        
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config_dir],
+            condition=IfCondition(use_rviz),
+            output='screen')
+
+    ])