40 lines
1.1 KiB
Python
40 lines
1.1 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.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch.actions import RegisterEventHandler, EmitEvent
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from launch.event_handlers import OnProcessExit
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from launch.events import Shutdown
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def generate_launch_description():
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# rviz2 node
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rviz2_params = PathJoinSubstitution([FindPackageShare('xarm_description'), 'rviz', 'display.rviz'])
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rviz2_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', rviz2_params],
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remappings=[
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('/tf', 'tf'),
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('/tf_static', 'tf_static'),
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]
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)
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return LaunchDescription([
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RegisterEventHandler(event_handler=OnProcessExit(
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target_action=rviz2_node,
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on_exit=[EmitEvent(event=Shutdown())]
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)),
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rviz2_node,
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])
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