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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) |
Packages
Name | Version |
---|---|
urdf_launch | 0.1.0 |
README
urdf_launch
This package contains launch files and configurations for common URDF operations.
Load Description
- 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
CONTRIBUTING
No CONTRIBUTING.md found.
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