45 lines
1.3 KiB
Python
45 lines
1.3 KiB
Python
import os
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import launch
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import launch_ros
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from ament_index_python.packages import get_package_share_directory
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import xacro
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def generate_launch_description():
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# 获取默认的urdf文件路径
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pkg_trolley = get_package_share_directory('trolley')
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xacro_path = os.path.join(pkg_trolley, 'urdf', 'miniBox.urdf.xacro')
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# 处理xacro文件，生成robot_description参数
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robot_description_config = xacro.process_file(xacro_path).toxml()
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# 创建Node节点，发布robot_description参数
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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': robot_description_config}]
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)
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# 给可动关节提供 joint_states 发布器
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jsp=Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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output='screen',
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parameters=[]
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)
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# rviz_config=os.path.join(pkg_trolley, 'rviz', 'miniBox.rviz')
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rviz = Node(
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package='rviz2',
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executable='rviz2',
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output='screen',
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arguments=[]
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)
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return launch.LaunchDescription([
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rsp,
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jsp,
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rviz
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]) |