jiaweilong66
71 lines
2.4 KiB
Python
71 lines
2.4 KiB
Python
import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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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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pkg_name = 'agv_pro_description'
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# Paths
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pkg_dir = get_package_share_directory(pkg_name)
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xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
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world_file = os.path.join(pkg_dir, 'worlds', 'empty.world') # 创建一个空 world 即可
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rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
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robot_description_content = Command(['xacro ', xacro_file])
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robot_description = {'robot_description': robot_description_content}
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return LaunchDescription([
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# Start Gazebo with empty world
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
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),
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launch_arguments={'world': world_file}.items()
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),
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# Spawn robot into Gazebo
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=['-topic', 'robot_description',
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'-entity', 'agv_pro'],
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output='screen'
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),
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# Robot state publisher
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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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output='screen',
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parameters=[robot_description]
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),
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# Optionally publish joint states if not using controllers
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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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output='screen',
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),
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Node(
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package='controller_manager',
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executable='spawner',
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arguments=['joint_state_broadcaster'],
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output='screen',
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),
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# RViz (optional, visualize TF & model)
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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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output='screen',
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arguments=['-d', rviz_config],
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),
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]) |