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🔧 replacing xacro boot method

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This commit is contained in:
Ilya Uraev 2022-01-19 19:16:46 +04:00
parent c8fb83c7a1
commit 0dcc612156
1 changed files with 12 additions and 8 deletions
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20
robossembler/launch/robossembler_bringup.launch.py
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@ -42,14 +42,18 @@ def generate_launch_description():
)
)
# get xacro file path
xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
# get error if xacro file if missing
assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file)
# parse xacro file from file with arguments
robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"true",'robot_name':"rasmt"})
# convert file to xml format
robot_description_content = robot_description.toxml()
# Load robot description
robot_description_content = Command(
[
FindExecutable(name="xacro"), " ",
PathJoinSubstitution(
[FindPackageShare("rasmt_support"), "urdf/rasmt.xacro"]
), " ",
"robot_name:=", LaunchConfiguration("robot_name"), " ",
"sim:=", LaunchConfiguration("sim"), " ",
"grip:=", LaunchConfiguration("grip")
]
)
control = IncludeLaunchDescription(
PythonLaunchDescriptionSource(