xs
60 lines
2.0 KiB
Python
60 lines
2.0 KiB
Python
"""robot_tf2_launch.py - 启动 URDF + JointStatePublisher + robot_state_publisher + Tf2Listener。
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设计思想:
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- 用 xacro 解析 URDF(ROS2 工业标准,简单 URDF 可直接读)
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- robot_state_publisher 订阅 /joint_states + URDF → 动态 TF → /tf
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- Tf2Listener 查 gripper 在 base_link 下位姿
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- 跨包: urdf 来自 cpp_robot_tf2, robot_state_publisher 来自 ros-humble-robot-state-publisher
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"""
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from launch import LaunchDescription
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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"""生成启动描述:URDF + JointState + robot_state_publisher + TF listener。
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Returns:
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LaunchDescription: 启动描述实例。
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"""
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# URDF 路径(用包内 urdf/ 目录,跨平台安全)
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urdf_path = PathJoinSubstitution([
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FindPackageShare('cpp_robot_tf2'),
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'urdf',
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'simple_arm.urdf',
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])
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# 用 cat 读 URDF 内容(给 robot_state_publisher 用)
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robot_description = Command([
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FindExecutable(name='cat'),
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' ',
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urdf_path,
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])
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return LaunchDescription([
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# 1) JointStatePublisher(C++ 发布关节角度)
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Node(
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package='cpp_robot_tf2',
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executable='joint_state_publisher_cpp',
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name='joint_state_publisher',
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output='screen',
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),
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# 2) robot_state_publisher(ROS2 系统包) — URDF + /joint_states → /tf
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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=[{'robot_description': robot_description}],
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),
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# 3) TF2 listener(C++ 查 gripper 位姿)
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Node(
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package='cpp_robot_tf2',
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executable='tf2_listener_cpp',
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name='tf2_listener',
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output='screen',
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),
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]) |