56 lines
1.9 KiB
Python
56 lines
1.9 KiB
Python
#!/usr/bin/python3
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"""生成 BCR 机器人（GzWeb 可视化，无 ros_gz_bridge / Nav2）。"""
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from os.path import join
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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 Command, LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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bcr_bot_path = get_package_share_directory('bcr_bot')
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position_x = LaunchConfiguration('position_x', default='0.0')
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position_y = LaunchConfiguration('position_y', default='0.0')
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orientation_yaw = LaunchConfiguration('orientation_yaw', default='0.0')
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robot_state_publisher = 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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parameters=[{
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'robot_description': Command([
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'xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'),
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' camera_enabled:=false',
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' stereo_camera_enabled:=false',
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' two_d_lidar_enabled:=false',
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' odometry_source:=world',
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' sim_gz:=true',
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]),
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}],
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remappings=[('/joint_states', 'bcr_bot/joint_states')],
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)
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gz_spawn_entity = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-topic', '/robot_description',
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'-name', 'bcr_bot',
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'-allow_renaming', 'true',
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'-z', '0.28',
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'-x', position_x,
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'-y', position_y,
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'-Y', orientation_yaw,
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],
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)
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return LaunchDescription([
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DeclareLaunchArgument('position_x', default_value='0.0'),
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DeclareLaunchArgument('position_y', default_value='0.0'),
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DeclareLaunchArgument('orientation_yaw', default_value='0.0'),
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robot_state_publisher,
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gz_spawn_entity,
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])
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