parallel-gripper/rbs_gripper/launch/display.launch.py

76 lines
2.5 KiB
Python

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_gripper",
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_gripper.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)