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fix: pass robot description as a parameter

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slz
2026-07-29 16:01:00 +08:00
parent 10a40ce314
commit 05acd7174c
2 changed files with 6 additions and 14 deletions
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orbbec_description/launch/view_model.launch.py
+3 -2
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@@ -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])