41 lines
1.7 KiB
Plaintext
41 lines
1.7 KiB
Plaintext
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import launch
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import launch_ros
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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#获取urdf路径
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urdf_package_path = get_package_share_directory("fishbot_description")
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default_rviz_config_path = os.path.join(urdf_package_path,"config","display_robot_model.rviz")
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default_urdf_path = os.path.join(urdf_package_path,"urdf","first_robot.urdf")
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#声明一个urdf目录的参数，方便修改
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action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
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name="model",default_value=str(default_urdf_path),description="加载模型文件路径"
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)
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#通过文件路径，获取内容，并转化成数值对象，以供传入 robot_state_publisher
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substitutions_command_result = launch.substitutions.Command(["xacro ",launch.substitutions.LaunchConfiguration("model")])
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robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str)
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action_robot_state_publisher = launch_ros.actions.Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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parameters=[{f"robot_description":robot_description_value}]
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)
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action_joint_state_publisher = launch_ros.actions.Node(
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package="joint_state_publisher",
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executable="joint_state_publisher"
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)
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action_rviz_node = launch_ros.actions.Node(
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package="rviz2",
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executable="rviz2",
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arguments=["-d",default_rviz_config_path]
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)
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return launch.LaunchDescription([
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action_declare_arg_mode_path,
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action_robot_state_publisher,
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action_joint_state_publisher,
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action_rviz_node,
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])
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