26 lines
893 B
Python
26 lines
893 B
Python
import os
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import xacro
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import launch
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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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initial_joint_controllers_file_path = os.path.join(
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get_package_share_directory('rbs_arm'), 'config', 'rbs_arm_controllers_gazebosim.yaml'
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)
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doc = xacro.process_file(os.path.join(get_package_share_directory("rbs_arm"), 'urdf', 'rbs_arm_modular.xacro'), mappings={
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"gripper_name": "rbs-gripper",
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"prefix": "",
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"hardware": "gazebo",
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"simulation_controllers": initial_joint_controllers_file_path
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})
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robot_desc = doc.toprettyxml(indent=' ')
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part1, part2 = robot_desc.split('?>')
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m_encoding = 'UTF-8'
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with open("current.urdf", 'w') as xfile:
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xfile.write(part1 + 'encoding=\"{}\"?>\n'.format(m_encoding) + part2)
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xfile.close()
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return launch.LaunchDescription()
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