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lss_hw_example.launch.py
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lss_hw_example.launch.py
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# Copyright 2020 ROS2-Control Development Team (2020)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
import xacro
def generate_launch_description():
lss_package_path = os.path.join(get_package_share_directory('ros2_lss_bus'))
# Get URDF via xacro
robot_description_path = os.path.join(
lss_package_path,
'urdf',
'ros2_lss_bus.urdf.xacro')
robot_description_config = xacro.process_file(robot_description_path)
robot_description = {'robot_description': robot_description_config.toxml()}
robot_controllers = os.path.join(
lss_package_path,
'config',
'ros2_lss_bus.yaml'
)
#joint_state_publisher_node = Node(
# package='joint_state_publisher_gui',
# executable='joint_state_publisher_gui',
#)
robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='both',
parameters=[robot_description]
)
return LaunchDescription([
Node(
package='controller_manager',
executable='ros2_control_node',
parameters=[robot_description, robot_controllers],
output={
'stdout': 'screen',
'stderr': 'screen',
},
),
#joint_state_publisher_node,
robot_state_publisher_node
])