X-lanni
64 lines
1.8 KiB
Python
64 lines
1.8 KiB
Python
import os
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from launch import LaunchDescription
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from launch_ros.actions import Node,PushRosNamespace
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from launch.conditions import IfCondition
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import Command,LaunchConfiguration,PythonExpression
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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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namespace = LaunchConfiguration('namespace', default='')
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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_description'),
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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_description'),
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'urdf',
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'agv_pro.urdf'
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)
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robot_description_content = Command([
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'xacro ',
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urdf_file,
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' namespace:=',
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PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
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])
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return LaunchDescription([
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DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Namespace for nodes'),
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PushRosNamespace(namespace),
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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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