42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
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from launch import LaunchDescription
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import os
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from ament_index_python import get_package_share_directory
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from launch_ros.parameter_descriptions import ParameterValue
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from launch.substitutions import Command
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from launch_ros.actions import Node
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def generate_launch_description():
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urdf_path = os.path.join(get_package_share_directory('my_robot1_description'), 'urdf', 'my_robot1.urdf.xacro')
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robot_description = ParameterValue(Command(['xacro ', urdf_path]), value_type=str)
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rviz_config_path = os.path.join(get_package_share_directory('my_robot1_description'), 'rviz', 'urdf_config.rviz')
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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parameters = [{"robot_description": robot_description}]
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)
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joint_state_publisher_gui_node = Node(
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package="joint_state_publisher_gui",
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executable="joint_state_publisher_gui",
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)
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rviz2_node = Node(
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package="rviz2",
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executable="rviz2",
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arguments=['-d', rviz_config_path]
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)
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return LaunchDescription([
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robot_state_publisher_node,
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joint_state_publisher_gui_node,
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rviz2_node
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])
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