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Update gazebo moveit launchfiles

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This commit is contained in:
Nicolas Hiillos
2023-03-22 22:37:46 +02:00
parent 34d209cd52
commit 7b99e220f5
7 changed files with 314 additions and 421 deletions
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6
src/custom_xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
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@@ -63,11 +63,11 @@ def launch_setup(context, *args, **kwargs):
# robot_description
# xarm_description/launch/lib/robot_description_lib.py
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('custom_xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
robot_description = {
'robot_description': get_xacro_file_content(
xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
arguments={
'prefix': prefix,
'dof': dof,
@@ -111,7 +111,7 @@ def launch_setup(context, *args, **kwargs):
# gazebo launch
# gazebo_ros/launch/gazebo.launch.py
xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'worlds', 'table.world'])
xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('custom_xarm_gazebo'), 'worlds', 'table.world'])
gazebo_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('gazebo_ros'), 'launch', 'gazebo.launch.py'])),
launch_arguments={