43 lines
1.2 KiB
Python
43 lines
1.2 KiB
Python
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.substitutions import Command
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_name = 'soft_arm_sim'
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share_dir = get_package_share_directory(pkg_name)
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# 获取 xacro 文件路径
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xacro_file = os.path.join(share_dir, 'urdf', 'soft_arm.urdf.xacro')
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# 1. Robot State Publisher
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# 使用 Command 进行转换，这样更稳定，且能在终端看到详细报错
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robot_description = Command(['xacro ', xacro_file])
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node_robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[{'robot_description': robot_description}]
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)
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# 2. 仿真节点
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node_simulator = Node(
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package=pkg_name,
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executable='simulator',
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output='screen'
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)
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# 3. Rviz2
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node_rviz = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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)
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return LaunchDescription([
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node_robot_state_publisher,
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node_simulator,
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node_rviz
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])
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