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rsp.python import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.substitutions import LaunchConfiguration, Command from launch.actions import DeclareLaunchArgument from launch_ros.actions import Node import xacro def generate_launch_description(): # Check if we're told to use sim time use_sim_time = LaunchConfiguration('use_sim_time') use_ros2_control = LaunchConfiguration('use_ros2_control') # Process the URDF file pkg_path = os.path.join(get_package_share_directory('articubot_one')) xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro') # robot_description_config = xacro.process_file(xacro_file).toxml() robot_description_config = Command(['xacro ', xacro_file, ' use_ros2_control:=', use_ros2_control, ' sim_mode:=', use_sim_time]) # Create a robot_state_publisher node params = {'robot_description': robot_description_config, 'use_sim_time': use_sim_time} node_robot_state_publisher = Node( package='robot_state_publisher', executable='robot_state_publisher', output='screen', parameters=[params] ) # Launch! return LaunchDescription([ DeclareLaunchArgument( 'use_sim_time', default_value='false', description='Use sim time if true'), DeclareLaunchArgument( 'use_ros2_control', default_value='true', description='Use ros2_control if true'), node_robot_state_publisher ])
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