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930a279 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():
# Get package path
pkg_share = get_package_share_directory('left_sharpa_wave') # <-- rename to your ROS2 package name
# Launch arguments
gui_arg = DeclareLaunchArgument(
'gui',
default_value='false',
description='Flag to enable joint_state_publisher_gui'
)
# URDF file
urdf_file = os.path.join(pkg_share, 'left_sharpa_wave.urdf')
# Nodes
joint_state_publisher_node = Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher_gui',
condition=None, # could use IfCondition(LaunchConfiguration('gui'))
)
robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[{'robot_description': open(urdf_file).read()}]
)
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', os.path.join(pkg_share, 'config/sharpa.rviz')]
)
return LaunchDescription([
gui_arg,
joint_state_publisher_node,
robot_state_publisher_node,
rviz_node
])
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