transforms Namespace Reference

Functions
def	generate_launch_description ()

Function Documentation

generate_launch_description()

def transforms.generate_launch_description

(

)

Launch robot_state_publisher to read in URDF file

Definition at line 24 of file transforms.launch.py.

def generate_launch_description():
    """
    Launch robot_state_publisher to read in URDF file
    """
    use_sim_time = LaunchConfiguration('use_sim_time')
    declare_use_sim_time_arg = DeclareLaunchArgument(
        name = 'use_sim_time',
        default_value = "False",
        description = "True if simulation mode is on"
    )
 
    # Since the file needs to be actually read a substition does not work here
    # For now the path must be hardcoded so it can be read into a string and passed as a parameter
    with open('/opt/carma/vehicle/calibration/urdf/carma.urdf', 'r') as in_file:
        robot_description = in_file.read()
 
    start_robot_state_publisher_cmd = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        namespace=GetCurrentNamespace(),
        parameters=[
            {'robot_description': robot_description},
            {"use_sim_time" : use_sim_time}
            ]
    )
 
    return LaunchDescription([
        start_robot_state_publisher_cmd,
        declare_use_sim_time_arg
    ])