Add custom xarm packages

src/custom_xarm_description/launch/_rviz_display.launch.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2021, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import RegisterEventHandler, EmitEvent
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+
+
+def generate_launch_description():
+    # rviz2 node
+    rviz2_params = PathJoinSubstitution([FindPackageShare('xarm_description'), 'rviz', 'display.rviz'])
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', rviz2_params],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static'),
+        ]
+    )
+    
+    return LaunchDescription([
+        RegisterEventHandler(event_handler=OnProcessExit(
+            target_action=rviz2_node,
+            on_exit=[EmitEvent(event=Shutdown())]
+        )),
+        rviz2_node,
+    ])