File size: 2,766 Bytes
20fa7e3 | 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 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 | import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
# Get the package share directory
pkg_share = get_package_share_directory('motion_player')
# Paths to URDF and RViz config
default_urdf_path = os.path.join(pkg_share, 'urdf', 'g1_custom_collision_29dof.urdf')
default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'robot.rviz')
# Declare launch arguments
urdf_file_arg = DeclareLaunchArgument(
'urdf_file',
default_value=default_urdf_path,
description='Path to the URDF file'
)
rviz_config_arg = DeclareLaunchArgument(
'rviz_config',
default_value=default_rviz_config_path,
description='Path to the RViz config file'
)
motion_file_arg = DeclareLaunchArgument(
'motion_file',
description='Path to the motion pickle file (.pkl)'
)
bvh_file_arg = DeclareLaunchArgument(
'bvh_file',
default_value='',
description='Path to the BVH file. If empty, auto-detects from motion_file path.'
)
loop_arg = DeclareLaunchArgument(
'loop',
default_value='true',
description='Whether to loop the motion playback'
)
# Read URDF file content
with open(default_urdf_path, 'r') as urdf_file:
robot_description_content = urdf_file.read()
robot_description = {'robot_description': robot_description_content}
# Robot State Publisher node
robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[robot_description]
)
# Motion Player node (replaces joint_state_publisher_gui)
motion_player_node = Node(
package='motion_player',
executable='motion_player',
name='motion_player',
output='screen',
parameters=[{
'motion_file': LaunchConfiguration('motion_file'),
'bvh_file': LaunchConfiguration('bvh_file'),
'loop': LaunchConfiguration('loop'),
}]
)
# RViz2 node
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('rviz_config')]
)
return LaunchDescription([
urdf_file_arg,
rviz_config_arg,
motion_file_arg,
bvh_file_arg,
loop_arg,
robot_state_publisher_node,
motion_player_node,
rviz_node
])
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