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删除 创建和显示机器人所用的launch文件

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吕昱卓 2025-12-14 15:45:10 +08:00
parent 37b4de7e39
commit 240f581bc2
1 changed files with 0 additions and 41 deletions
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创建和显示机器人所用的launch文件
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import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():
#获取urdf路径
urdf_package_path = get_package_share_directory("fishbot_description")
default_rviz_config_path = os.path.join(urdf_package_path,"config","display_robot_model.rviz")
default_urdf_path = os.path.join(urdf_package_path,"urdf","first_robot.urdf")
#声明一个urdf目录的参数，方便修改
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name="model",default_value=str(default_urdf_path),description="加载模型文件路径"
)
#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
substitutions_command_result = launch.substitutions.Command(["xacro ",launch.substitutions.LaunchConfiguration("model")])
robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str)
action_robot_state_publisher = launch_ros.actions.Node(
package="robot_state_publisher",
executable="robot_state_publisher",
parameters=[{f"robot_description":robot_description_value}]
)
action_joint_state_publisher = launch_ros.actions.Node(
package="joint_state_publisher",
executable="joint_state_publisher"
)
action_rviz_node = launch_ros.actions.Node(
package="rviz2",
executable="rviz2",
arguments=["-d",default_rviz_config_path]
)
return launch.LaunchDescription([
action_declare_arg_mode_path,
action_robot_state_publisher,
action_joint_state_publisher,
action_rviz_node,
])