From 46be7cc86ed2b9ccf8b9708218fd4cf57ecd1d4e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 15 Jun 2020 12:18:50 +0200
Subject: [PATCH] Updated the launch files. Integrated the description launch
into the spawn_sign launch. Added a test launch.
---
launch/description.launch | 31 ----------------------
launch/{spawn.launch => spawn_sign.launch} | 28 +++++++++++--------
launch/spawn_test.launch | 26 ++++++++++++++++++
urdf/test2020.xacro | 2 +-
4 files changed, 44 insertions(+), 43 deletions(-)
delete mode 100644 launch/description.launch
rename launch/{spawn.launch => spawn_sign.launch} (53%)
create mode 100644 launch/spawn_test.launch
diff --git a/launch/description.launch b/launch/description.launch
deleted file mode 100644
index 0fffe8c..0000000
--- a/launch/description.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<!-- -->
-<launch>
- <arg name="name" default="stop"/>
- <arg name="tag" default="alvar0"/>
- <arg name="type" default="stop"/>
- <arg name="model" default="sign"/>
- <arg name="model_path" default="$(find sign_description)/urdf/$(arg model).xacro"/>
- <arg name="state_publisher" default="true"/>
- <arg name="rviz" default="false"/>
-
- <param name="$(arg name)_description"
- command="$(find xacro)/xacro --inorder '$(arg model_path)'
- name:=$(arg name)
- tag:=$(arg tag)
- type:=$(arg type)">
- </param>
-
- <node name="$(arg name)_state_publisher"
- pkg ="robot_state_publisher"
- type="robot_state_publisher"
- if="$(arg state_publisher)">
- <!--<param name="tf_prefix" value="/$(arg name)" type="str" />-->
- <remap from="robot_description" to="$(arg name)_description" />
- <remap from="/joint_states" to="/$(arg name)/joint_states" />
- </node>
-
- <node name="$(arg name)_rviz" pkg="rviz" type="rviz"
- if="$(arg rviz)"
- args="-d $(find sign_description)/rviz/$(arg name).rviz"/>
-
-</launch>
\ No newline at end of file
diff --git a/launch/spawn.launch b/launch/spawn_sign.launch
similarity index 53%
rename from launch/spawn.launch
rename to launch/spawn_sign.launch
index 6f77853..87dcc1b 100644
--- a/launch/spawn.launch
+++ b/launch/spawn_sign.launch
@@ -1,4 +1,4 @@
-<!-- -->
+<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="name" default="stop"/>
<arg name="model" default="sign"/>
@@ -8,16 +8,22 @@
<arg name="y" default="-0.5"/>
<arg name="yaw" default="3.14159"/>
<arg name="parent" default="map"/>
- <arg name="rviz" default="false"/>
- <include file="$(find sign_description)/launch/description.launch">
- <arg name="name" value="$(arg name)"/>
- <arg name="tag" value="$(arg tag)"/>
- <arg name="type" value="$(arg type)"/>
- <arg name="model" value="$(arg model)"/>
- <arg name="rviz" value="$(arg rviz)"/>
- </include>
-
+ <param name="$(arg name)_description"
+ command="$(find xacro)/xacro --inorder '$(find sign_description)/urdf/$(arg model).xacro'
+ name:=$(arg name)
+ tag:=$(arg tag)
+ type:=$(arg type)">
+ </param>
+
+ <node name="$(arg name)_state_publisher"
+ pkg ="robot_state_publisher"
+ type="robot_state_publisher">
+ <!--<param name="tf_prefix" value="/$(arg name)" type="str" />-->
+ <remap from="robot_description" to="$(arg name)_description" />
+ <remap from="/joint_states" to="/$(arg name)/joint_states" />
+ </node>
+
<node name="spawn_urdf_$(arg name)"
pkg ="gazebo_ros"
type="spawn_model"
@@ -28,4 +34,4 @@
args="$(arg x) $(arg y) 0 $(arg yaw) 0 0 $(arg parent) $(arg name)_base_link 100">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/spawn_test.launch b/launch/spawn_test.launch
new file mode 100644
index 0000000..f8b1b30
--- /dev/null
+++ b/launch/spawn_test.launch
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="name" default="stop1"/>
+ <arg name="model" default="sign"/>
+ <arg name="tag" default="alvar0"/>
+ <arg name="type" default="stop"/>
+ <arg name="x" default="0.5"/>
+ <arg name="y" default="-0.5"/>
+ <arg name="yaw" default="3.14159"/>
+ <arg name="parent" default="map"/>
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="$(arg name)"/>
+ <arg name="model" value="$(arg model)"/>
+ <arg name="tag" value="$(arg tag)"/>
+ <arg name="type" value="$(arg type)"/>
+ <arg name="x" value="$(arg x)"/>
+ <arg name="y" value="$(arg y)"/>
+ <arg name="yaw" value="$(arg yaw)"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+ <node name="$(arg name)_rviz" pkg="rviz" type="rviz"
+ args="-d $(find sign_description)/rviz/$(arg name).rviz"/>
+</launch>
+
diff --git a/urdf/test2020.xacro b/urdf/test2020.xacro
index 3b07058..69affce 100644
--- a/urdf/test2020.xacro
+++ b/urdf/test2020.xacro
@@ -13,4 +13,4 @@
<origin xyz="$(arg x) $(arg y) 0" rpy="0 0 $(arg yaw)"/>
</xacro:sign>
-</robot>
\ No newline at end of file
+</robot>
--
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