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fix rviz cannot display #1

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fix rviz cannot display #1

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15 changes: 14 additions & 1 deletion launch/description.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ def generate_launch_description():

use_sim_time = LaunchConfiguration("use_sim_time")
description_path = LaunchConfiguration("description_path")
urdf_path = LaunchConfiguration("urdf_path")

declare_use_sim_time = DeclareLaunchArgument("use_sim_time", default_value="false", description="Use simulation (Gazebo) clock if true")

Expand All @@ -20,24 +21,36 @@ def generate_launch_description():

declare_description_path = DeclareLaunchArgument(name="description_path", default_value=default_model_path, description="Absolute path to robot urdf file")

default_urdf_path = os.path.join(pkg_share, "urdf/robot.urdf")
declare_urdf_path = DeclareLaunchArgument(name="urdf_path", default_value=default_urdf_path, description="Absolute path to robot urdf file")

robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",

parameters=[
{"robot_description": Command(["xacro ", description_path])},
{"use_tf_static": False},
# {"robot_description": Command(["cat ", urdf_path])},
# {"use_tf_static": False},
{"publish_frequency": 200.0},
{"ignore_timestamp": True},
{'use_sim_time': use_sim_time}
],
# remappings=(("robot_description", "robot_description")),
)

joint_state_publisher_node = Node(
package="joint_state_publisher",
executable="joint_state_publisher",
parameters=[{"use_sim_time": use_sim_time}],
)

return LaunchDescription(
[
declare_description_path,
declare_urdf_path,
declare_use_sim_time,
robot_state_publisher_node,
joint_state_publisher_node,
]
)
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