85 lines
1.8 KiB
Python
85 lines
1.8 KiB
Python
#!/usr/bin/env python3
|
|
# -*- coding: utf-8 -*-
|
|
|
|
import os
|
|
|
|
from launch import LaunchDescription
|
|
from launch_ros.actions import Node
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
|
|
def generate_launch_description():
|
|
package_share_dir = get_package_share_directory("harvest_arm_rm")
|
|
|
|
config_file = os.path.join(
|
|
package_share_dir,
|
|
"config",
|
|
"config.yaml"
|
|
)
|
|
|
|
urdf_file = os.path.join(
|
|
package_share_dir,
|
|
"urdf",
|
|
"urdf_rm75",
|
|
"RM75.urdf"
|
|
)
|
|
|
|
with open(urdf_file, "r") as f:
|
|
robot_description = f.read()
|
|
|
|
realman_arm_node = Node(
|
|
package="harvest_arm_rm",
|
|
executable="realman_arm",
|
|
name="realman_arm_node",
|
|
output="screen",
|
|
parameters=[config_file],
|
|
)
|
|
|
|
realman_rviz_node = Node(
|
|
package="harvest_arm_rm",
|
|
executable="realman_rviz",
|
|
name="realman_rviz_node",
|
|
output="screen",
|
|
parameters=[config_file],
|
|
)
|
|
|
|
robot_state_publisher_node = Node(
|
|
package="robot_state_publisher",
|
|
executable="robot_state_publisher",
|
|
name="robot_state_publisher",
|
|
output="screen",
|
|
parameters=[
|
|
{
|
|
"robot_description": robot_description,
|
|
}
|
|
],
|
|
)
|
|
|
|
rviz_node = Node(
|
|
package="rviz2",
|
|
executable="rviz2",
|
|
name="rviz2",
|
|
output="screen",
|
|
)
|
|
|
|
return LaunchDescription([
|
|
robot_state_publisher_node,
|
|
realman_arm_node,
|
|
realman_rviz_node,
|
|
rviz_node,
|
|
])
|
|
|
|
|
|
|
|
|
|
'''
|
|
ros2 launch harvest_arm_rm rm_arm_rviz.launch.py
|
|
|
|
ros2 topic pub /action/arm sensor_msgs/msg/JointState "
|
|
header:
|
|
stamp:
|
|
sec: 2
|
|
nanosec: 0
|
|
position: [1.0, 82.6, -20.28, 32.15, -50.28, -17.28, -64.055, 20.62, 1.0]
|
|
" --once
|
|
''' |