fix: pass robot description as a parameter

orbbec_description/launch/launch_utils.py

@@ -12,22 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 import xacro
-import tempfile
+
 
 def to_urdf(xacro_path, parameters=None):
-    """Convert the given xacro file to URDF file.
+    """Convert the given xacro file to a URDF string.
     * xacro_path -- the path to the xacro file
     * parameters -- to be used when xacro file is parsed.
     """
-    with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
-        urdf_path = xacro_file.name
-
-    # open and process file
     doc = xacro.process_file(xacro_path, mappings=parameters)
-    # open the output file
-    with open(urdf_path, 'w') as urdf_file:
-        urdf_file.write(doc.toprettyxml(indent='  '))
-
-    return urdf_path
+    return doc.toprettyxml(indent='  ')

orbbec_description/launch/view_model.launch.py

@@ -35,7 +35,8 @@ def generate_launch_description():
 
     rviz_config_dir = os.path.join(get_package_share_directory('orbbec_description'), 'rviz', 'urdf.rviz')
     xacro_path = os.path.join(get_package_share_directory('orbbec_description'), 'urdf', params['model'])
-    urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
+    robot_description = to_urdf(
+        xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
     rviz_node = Node(
         package='rviz2',
         executable='rviz2',
@@ -50,6 +51,6 @@ def generate_launch_description():
         executable='robot_state_publisher',
         namespace='',
         output='screen',
-        arguments=[urdf]
+        parameters=[{'robot_description': robot_description}]
         )
     return launch.LaunchDescription([rviz_node, model_node])