101 lines
2.0 KiB
Python
101 lines
2.0 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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import os
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from pathlib import Path
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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package_share_dir = get_package_share_directory("harvest_arm_rm")
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config_file = os.path.join(
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package_share_dir,
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"config",
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"config.yaml"
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)
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urdf_file = os.path.join(
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package_share_dir,
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"urdf",
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"urdf_rm75",
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"RM75.urdf"
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)
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meshes_dir = str(Path(urdf_file).parent)
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with open(urdf_file, "r") as f:
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robot_description = f.read()
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realman_arm_node = Node(
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package="harvest_arm_rm",
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executable="realman_arm",
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name="realman_arm_node",
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output="screen",
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parameters=[config_file],
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)
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realman_rviz_node = Node(
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package="harvest_arm_rm",
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executable="realman_rviz",
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name="realman_rviz_node",
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output="screen",
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parameters=[config_file],
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)
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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name="robot_state_publisher",
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output="screen",
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parameters=[
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{
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"robot_description": robot_description,
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}
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],
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="screen",
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)
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return LaunchDescription([
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robot_state_publisher_node,
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realman_arm_node,
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realman_rviz_node,
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rviz_node,
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])
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'''
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ros2 launch harvest_arm_rm rm_arm_rviz.launch.py
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while true; do
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ros2 topic pub /action/arm sensor_msgs/msg/JointState "
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header:
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stamp:
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sec: $(date +%s)
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nanosec: $(date +%N)
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frame_id: ''
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name: []
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position: [1.0, 1.0, 82.6, -20.28, 32.15, -50.28, -17.28, -64.055, 20.62, 1.0]
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velocity: []
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effort: []
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" --once
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sleep 1
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done
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''' |