Add custom xarm packages

src/custom_xarm_description/launch/lib/robot_description_lib.py

@@ -0,0 +1,29 @@
+#!/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.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def get_xacro_file_content(
+    xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), 
+    arguments={}):
+    command = [
+        PathJoinSubstitution([FindExecutable(name='xacro')]),
+        ' ',
+        xacro_file,
+        ' '
+    ]
+    if arguments and isinstance(arguments, dict):
+        for key, val in arguments.items():
+            command.extend([
+                '{}:='.format(key),
+                val,
+                ' '
+            ])
+    return Command(command)