Merge branch 'lyrical' into v2/develop

orbbec_description/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 project(orbbec_description)
 
 find_package(ament_cmake REQUIRED)

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])

orbbec_description/package.xml

@@ -9,6 +9,13 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>