add modular robot type

rbs_arm/launch/display.launch.py

@@ -0,0 +1,76 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    declared_arguments = []
+    # General arguments
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="rbs_arm",
+            description="Description package with robot URDF/XACRO files. Usually the argument \
+        is not set, it enables use of a custom description.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value="rbs_arm_modular.xacro",
+            description="URDF/XACRO description file with the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "prefix",
+            default_value='""',
+            description="Prefix of the joint names, useful for \
+        multi-robot setup. If changed than also joint names in the controllers' configuration \
+        have to be updated.",
+        )
+    )
+    
+    description_package = LaunchConfiguration("description_package")
+    description_file = LaunchConfiguration("description_file")
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare(description_package), "config", "view_robot.rviz"]
+    )
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+    )
+
+    nodes_to_start = [
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes_to_start)