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Merged
Parent: More reasonable inertia values.
merged 1 commit into from
Aug 31, 2023
+28 −59
Merged

Use urdf_launch package #65

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81 changes: 27 additions & 54 deletions launch/display.launch.py
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Original file line number Diff line number Diff line change
@@ -1,61 +1,34 @@
from ament_index_python.packages import get_package_share_path

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfiguration

from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
urdf_tutorial_path = get_package_share_path('urdf_tutorial')
default_model_path = urdf_tutorial_path / 'urdf/01-myfirst.urdf'
default_rviz_config_path = urdf_tutorial_path / 'rviz/urdf.rviz'
ld = LaunchDescription()

urdf_tutorial_path = FindPackageShare('urdf_tutorial')
default_model_path = PathJoinSubstitution(['urdf', '01-myfirst.urdf'])
default_rviz_config_path = PathJoinSubstitution([urdf_tutorial_path, 'rviz', 'urdf.rviz'])

# These parameters are maintained for backwards compatibility
gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
description='Flag to enable joint_state_publisher_gui')
model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path),
description='Absolute path to robot urdf file')
rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
ld.add_action(gui_arg)
rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
description='Absolute path to rviz config file')

robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
value_type=str)

robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'robot_description': robot_description}]
)

# Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
joint_state_publisher_node = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
condition=UnlessCondition(LaunchConfiguration('gui'))
)

joint_state_publisher_gui_node = Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
condition=IfCondition(LaunchConfiguration('gui'))
)

rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('rvizconfig')],
)

return LaunchDescription([
gui_arg,
model_arg,
rviz_arg,
joint_state_publisher_node,
joint_state_publisher_gui_node,
robot_state_publisher_node,
rviz_node
])
ld.add_action(rviz_arg)

# This parameter has changed its meaning slightly from previous versions
ld.add_action(DeclareLaunchArgument(name='model', default_value=str(default_model_path),
description='Path to robot urdf file relative to urdf_tutorial package'))

ld.add_action(IncludeLaunchDescription(
PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']),
launch_arguments={
'urdf_package': 'urdf_tutorial',
'urdf_package_path': LaunchConfiguration('model'),
'rviz_config': LaunchConfiguration('rvizconfig'),
'jsp_gui': LaunchConfiguration('gui')}.items()
))

return ld
6 changes: 1 addition & 5 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,7 @@
<url>http://ros.org/wiki/urdf_tutorial</url>

<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>urdf_launch</exec_depend>

<test_depend>ament_lint_auto</test_depend>

Expand Down