43 lines
1.6 KiB
Python
43 lines
1.6 KiB
Python
#!/usr/bin/env python3
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2021, UFACTORY, Inc.
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# All rights reserved.
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#
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# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
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def generate_launch_description():
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prefix = LaunchConfiguration('prefix', default='')
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hw_ns = LaunchConfiguration('hw_ns', default='xarm')
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limited = LaunchConfiguration('limited', default=False)
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effort_control = LaunchConfiguration('effort_control', default=False)
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velocity_control = LaunchConfiguration('velocity_control', default=False)
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add_gripper = LaunchConfiguration('add_gripper', default=False)
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add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
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# robot rviz launch
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# xarm_description/launch/_robot_rviz_display.launch.py
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robot_rviz_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_rviz_display.launch.py']),
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launch_arguments={
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'prefix': prefix,
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'hw_ns': hw_ns,
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'limited': limited,
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'effort_control': effort_control,
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'velocity_control': velocity_control,
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'add_gripper': add_gripper,
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'add_vacuum_gripper': add_vacuum_gripper,
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'dof': '7',
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'robot_type': 'xarm',
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}.items(),
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)
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return LaunchDescription([
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robot_rviz_launch
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])
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