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Move starting the robot_state_publisher to an own launch file #977

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merged 6 commits into from
May 6, 2024
Merged

Move starting the robot_state_publisher to an own launch file #977

merged 6 commits into from
May 6, 2024

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fmauch
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@fmauch fmauch commented Apr 22, 2024

Doing this should greatly improve usability in cases where people want to specify their own description.

With this change, we can e.g. specify our own description using something like

ros2 launch ur_robot_driver ur_control.launch.py description_launchfile:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/launch/rsp.launch.py robot_ip:=123 use_mock_hardware:=true ur_type:=ur20 tf_prefix:=ur20_

This was developed during finishing UniversalRobots/Universal_Robots_ROS_Tutorials#12

@fmauch fmauch mentioned this pull request Apr 22, 2024
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@fmauch fmauch self-assigned this Apr 22, 2024
@fmauch fmauch requested a review from VinDp April 24, 2024 11:16
@fmauch fmauch marked this pull request as ready for review April 24, 2024 11:16
@fmauch fmauch mentioned this pull request Apr 24, 2024
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@fmauch fmauch linked an issue Apr 24, 2024 that may be closed by this pull request
(ur_control.launch.py) custom description file from custom pkg #947
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VinDp
VinDp approved these changes May 6, 2024
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Everything looks good and works. I have only 2 very small suggestions!

ur_robot_driver/launch/ur_control.launch.py Outdated Show resolved Hide resolved
ur_robot_driver/launch/ur_control.launch.py Outdated Show resolved Hide resolved
@fmauch @VinDp
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Co-authored-by: Vincenzo Di Pentima <DiPentima@fzi.de>
@fmauch fmauch merged commit 0dd8770 into UniversalRobots:main May 6, 2024
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@fmauch fmauch deleted the playground_rsp_launch branch May 6, 2024 14:09
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@VinDp VinDp VinDp approved these changes

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(ur_control.launch.py) custom description file from custom pkg
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