jiaweilong66
49 lines
1.3 KiB
Python
49 lines
1.3 KiB
Python
import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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use_rviz = LaunchConfiguration('use_rviz', default='true')
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rviz_config_dir = os.path.join(
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get_package_share_directory('agv_pro_gazebo'),
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'rviz',
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'agvpro_display.rviz')
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urdf_file = os.path.join(
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get_package_share_directory('agv_pro_gazebo'),
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'urdf',
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'agv_pro.urdf'
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)
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with open(urdf_file, 'r') as file:
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robot_description_content = file.read()
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return LaunchDescription([
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher'
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),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description_content}]
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),
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_dir],
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condition=IfCondition(use_rviz),
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output='screen')
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])
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