urdf_launch package from urdf_launch repo

urdf_launch

Package Summary

Tags No category tags.
Version 0.1.0
License BSD 3-clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MetroRobots/urdf_launch.git
VCS Type git
VCS Version main
Last Updated 2023-08-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Launch files for common URDF operations

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.

urdf_launch

This package contains launch files and configurations for common URDF operations.

Load Description

description.launch.py * Loads the URDF/Xacro robot model as a parameter, based on launch arguments * Launches a single node, robot_state_publisher, with the robot model parameter. * This results in the robot description being available as a topic.

The result is that you can perform the above actions with just 5 lines (not including boilerplate) in your own launch file.

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    ld = LaunchDescription()

    ld.add_action(IncludeLaunchDescription(
        PathJoinSubstitution([FindPackageShare('urdf_launch'), 'launch', 'display.launch.py']),
        launch_arguments={
            'urdf_package': 'turtlebot3_description',
            'urdf_package_path': PathJoinSubstitution(['urdf', 'turtlebot3_burger.urdf'])}.items()
    ))

    return ld


Display Robot Model

When developing a URDF robot model, it is often useful to display just the robot model in RViz. display.launch.py does the above tasks PLUS: * Launches RViz with a preconfigured setup * Launches a joint state publisher (with optional GUI)

This can be used in its own launch file, like the previous example, or can be done via command line, e.g.

ros2 launch urdf_launch display.launch.py urdf_package:=turtlebot3_description urdf_package_path:=urdf/turtlebot3_burger.urdf
CHANGELOG

Changelog for package urdf_launch

0.1.0 (2023-08-09)

  • Initial Package
  • Contributors: David V. Lu!!

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Messages

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Services

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Plugins

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