112 lines
3.6 KiB
Python
112 lines
3.6 KiB
Python
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# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ros2_control_demo_description",
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description="Description package with robot URDF/xacro files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="diffbot.urdf.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"gui",
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default_value="true",
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description="Start Rviz2 and Joint State Publisher gui automatically \
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with this launch file.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value='""',
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description="Prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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# Initialize Arguments
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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gui = LaunchConfiguration("gui")
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prefix = LaunchConfiguration("prefix")
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# Get URDF via xacro
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare("hoverboard_driver"), "urdf", description_file]
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),
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" ",
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"prefix:=",
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prefix,
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]
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)
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robot_description = {"robot_description": robot_description_content}
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(description_package), "diffbot/rviz", "diffbot_view.rviz"]
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)
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joint_state_publisher_node = Node(
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package="joint_state_publisher_gui",
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executable="joint_state_publisher_gui",
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condition=IfCondition(gui),
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)
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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condition=IfCondition(gui),
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)
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nodes = [
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joint_state_publisher_node,
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robot_state_publisher_node,
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rviz_node,
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]
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return LaunchDescription(declared_arguments + nodes)
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