Add custom xarm packages

src/custom_xarm_description/launch/xarm7_rviz_display.launch.py

@@ -0,0 +1,42 @@
+#!/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.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+
+def generate_launch_description():
+    prefix = LaunchConfiguration('prefix', default='')
+    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
+    limited = LaunchConfiguration('limited', default=False)
+    effort_control = LaunchConfiguration('effort_control', default=False)
+    velocity_control = LaunchConfiguration('velocity_control', default=False)
+    add_gripper = LaunchConfiguration('add_gripper', default=False)
+    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
+    
+    # robot rviz launch
+    # xarm_description/launch/_robot_rviz_display.launch.py
+    robot_rviz_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_rviz_display.launch.py']),
+        launch_arguments={
+            'prefix': prefix,
+            'hw_ns': hw_ns,
+            'limited': limited,
+            'effort_control': effort_control,
+            'velocity_control': velocity_control,
+            'add_gripper': add_gripper,
+            'add_vacuum_gripper': add_vacuum_gripper,
+            'dof': '7',
+            'robot_type': 'xarm',
+        }.items(),
+    )
+
+    return LaunchDescription([
+        robot_rviz_launch
+    ])