63 lines
2.1 KiB
Python
Executable File
63 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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#
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# Copyright 2019 ROBOTIS CO., LTD.
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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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#
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# Authors: Darby Lim
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import PythonExpression
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from launch_ros.actions import Node
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def generate_launch_description():
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TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
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frame_prefix = LaunchConfiguration('frame_prefix', default='')
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print('urdf_file_name : {}'.format(urdf_file_name))
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urdf_path = os.path.join(
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get_package_share_directory('turtlebot3_gazebo'),
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'urdf',
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urdf_file_name)
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with open(urdf_path, 'r') as infp:
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robot_desc = infp.read()
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true'),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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output='screen',
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parameters=[{
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'use_sim_time': use_sim_time,
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'robot_description': robot_desc,
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'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
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}],
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),
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])
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