64 lines
1.9 KiB
Python
64 lines
1.9 KiB
Python
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import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess, TimerAction
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_path = get_package_share_directory('robotic_arm')
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xacro_file = os.path.join(pkg_path, 'urdf', 'robotic_arm.urdf.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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robot_description = {'robot_description': robot_description_config.toxml()}
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# 启动 Gazebo
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gazebo = ExecuteProcess(
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cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
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output='screen'
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)
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# 发布机器人状态
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rsp = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[robot_description]
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)
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# 在 Gazebo 中生成机器人
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spawn = Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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output='screen',
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arguments=[
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'-topic', 'robot_description',
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'-entity', 'robotic_arm',
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'-x', '0',
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'-y', '0',
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'-z', '0.0',
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],
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)
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# 加载关节状态控制器
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spawn_jsc = Node(
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package='controller_manager',
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executable='spawner',
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output='screen',
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arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
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)
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# 加载机械臂位置控制器
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spawn_arm = Node(
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package='controller_manager',
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executable='spawner',
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output='screen',
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arguments=['arm_position_controller', '--controller-manager', '/controller_manager'],
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)
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return LaunchDescription([
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gazebo,
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rsp,
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TimerAction(period=3.0, actions=[spawn]),
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TimerAction(period=6.0, actions=[spawn_jsc, spawn_arm]),
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])
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