Use urdf_launch package (#65)

launch/display.launch.py

@@ -1,61 +1,34 @@
-from ament_index_python.packages import get_package_share_path
-
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import Command, LaunchConfiguration
-
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
-    urdf_tutorial_path = get_package_share_path('urdf_tutorial')
-    default_model_path = urdf_tutorial_path / 'urdf/01-myfirst.urdf'
-    default_rviz_config_path = urdf_tutorial_path / 'rviz/urdf.rviz'
+    ld = LaunchDescription()
+
+    urdf_tutorial_path = FindPackageShare('urdf_tutorial')
+    default_model_path = PathJoinSubstitution(['urdf', '01-myfirst.urdf'])
+    default_rviz_config_path = PathJoinSubstitution([urdf_tutorial_path, 'rviz', 'urdf.rviz'])
 
+    # These parameters are maintained for backwards compatibility
     gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'],
                                     description='Flag to enable joint_state_publisher_gui')
-    model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path),
-                                      description='Absolute path to robot urdf file')
-    rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
+    ld.add_action(gui_arg)
+    rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                      description='Absolute path to rviz config file')
-
-    robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
-                                       value_type=str)
-
-    robot_state_publisher_node = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        parameters=[{'robot_description': robot_description}]
-    )
-
-    # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
-    joint_state_publisher_node = Node(
-        package='joint_state_publisher',
-        executable='joint_state_publisher',
-        condition=UnlessCondition(LaunchConfiguration('gui'))
-    )
-
-    joint_state_publisher_gui_node = Node(
-        package='joint_state_publisher_gui',
-        executable='joint_state_publisher_gui',
-        condition=IfCondition(LaunchConfiguration('gui'))
-    )
-
-    rviz_node = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        output='screen',
-        arguments=['-d', LaunchConfiguration('rvizconfig')],
-    )
-
-    return LaunchDescription([
-        gui_arg,
-        model_arg,
-        rviz_arg,
-        joint_state_publisher_node,
-        joint_state_publisher_gui_node,
-        robot_state_publisher_node,
-        rviz_node
-    ])
+    ld.add_action(rviz_arg)
+
+    # This parameter has changed its meaning slightly from previous versions
+    ld.add_action(DeclareLaunchArgument(name='model', default_value=str(default_model_path),
+                                        description='Path to robot urdf file relative to urdf_tutorial package'))
+
+    ld.add_action(IncludeLaunchDescription(
+        PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']),
+        launch_arguments={
+            'urdf_package': 'urdf_tutorial',
+            'urdf_package_path': LaunchConfiguration('model'),
+            'rviz_config': LaunchConfiguration('rvizconfig'),
+            'jsp_gui': LaunchConfiguration('gui')}.items()
+    ))
+
+    return ld

package.xml

@@ -11,11 +11,7 @@
   <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher_gui</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rviz2</exec_depend>
-  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>