mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-10 18:30:20 +08:00
56 lines
2.2 KiB
Python
56 lines
2.2 KiB
Python
# Copyright 2023 Intel Corporation. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# /* Author: Doron Hirshberg */
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import os
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import launch
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from launch_ros.actions import Node
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import launch.events
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from ament_index_python.packages import get_package_share_directory
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import sys
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sys.path.append(os.path.dirname(os.path.realpath(__file__)))
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from launch_utils import to_urdf
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def generate_launch_description():
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available_urdf_files = [f for f in os.listdir(os.path.join(get_package_share_directory('orbbec_description'), 'urdf'))]
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params = dict([aa for aa in [aa.split(':=') for aa in sys.argv] if len(aa) == 2])
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if ('model' not in params or params['model'] not in available_urdf_files):
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print('USAGE:')
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print('ros2 launch orbbec_description view_model.launch.py model:=<model>')
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print('Available argumants for <model> are as follows:')
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print('\n'.join(available_urdf_files))
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return launch.LaunchDescription()
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rviz_config_dir = os.path.join(get_package_share_directory('orbbec_description'), 'rviz', 'urdf.rviz')
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xacro_path = os.path.join(get_package_share_directory('orbbec_description'), 'urdf', params['model'])
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urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
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rviz_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', rviz_config_dir],
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parameters=[{'use_sim_time': False}]
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)
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model_node = Node(
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name='model_node',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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namespace='',
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output='screen',
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arguments=[urdf]
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)
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return launch.LaunchDescription([rviz_node, model_node])
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