| from launch import LaunchDescription |
| from launch_ros.actions import LifecycleNode |
| from ament_index_python.packages import get_package_share_directory |
| |
| share_dir = get_package_share_directory('dummy_robot') |
| |
| # Start of user code imports |
| import os |
| # End of user code |
| |
| def generate_entity(): |
| # define empty user parameter (eventually redefined in the protected section afterwards) |
| state_publisher_custom_params = {} |
| |
| # Start of user code parameters |
| bringup_share = get_package_share_directory('dummy_robot_bringup') |
| urdf_filename = os.path.join(bringup_share, 'launch', 'single_rrbot.urdf') |
| print (urdf_filename) |
| with open(urdf_filename, 'r') as infp: |
| robot_desc = infp.read() |
| state_publisher_custom_params = { 'robot_description': robot_desc } |
| # End of user code |
| |
| # Add the actions to the launch description. |
| return LifecycleNode( |
| name='state_publisher', |
| package='robot_state_publisher', executable='robot_state_publisher', |
| remappings=[ |
| ('joint_states', 'joint_states/JointState/joint_states'), ('tf', 'state_publisher/TFMessage/tf'), ('tf_static', 'state_publisher/TFMessage/tf_static') |
| ], |
| parameters=[share_dir+'/launch/cfg/param.yaml', state_publisher_custom_params], |
| output='screen', |
| emulate_tty=True # assure that RCLCPP output gets flushed |
| ) |
| |
| def generate_launch_description(): |
| |
| # Launch Description |
| ld = LaunchDescription() |
| ld.add_entity(generate_entity()) |
| |
| return ld |
