30 lines
861 B
Python
30 lines
861 B
Python
#!/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)
|