32 lines
1.1 KiB
Python
32 lines
1.1 KiB
Python
import os
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import xacro
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import launch
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import launch_ros.actions
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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('ur_moveit_config'), 'config', 'ur_controllers.yaml'
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)
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doc = xacro.process_file(os.path.join(get_package_share_directory("ur_description"), 'urdf', 'ur.urdf.xacro'), mappings={
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"safety_limits": "true",
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"safety_pos_margin": "0.15",
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"safety_k_position": "20",
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"name": "ur",
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"ur_type": "ur5e",
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"prefix": "",
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"sim_mujoco": "true",
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"simulation_controllers": str(initial_joint_controllers_file_path),
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"with_gripper": "true"
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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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