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Added dae/stl fallback from cli (obj default now) #12

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Added dae/stl fallback from cli (obj default now) #12

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e483423
Added stl/obj mesh fallback from cli
ANonABento Jul 24, 2025
ee8b278
Merge branch 'main' of https://github.com/ANonABento/openarm_description
ANonABento Jul 24, 2025
f57939b
switched default to obj
ANonABento Jul 30, 2025
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17 changes: 15 additions & 2 deletions launch/display_openarm.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,13 @@
from launch_ros.actions import Node


def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bimanual):
def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bimanual, mesh_ext):
arm_type_str = context.perform_substitution(arm_type)
ee_type_str = context.perform_substitution(ee_type)
bimanual_str = context.perform_substitution(bimanual)
mesh_ext_str = context.perform_substitution(mesh_ext)
print("[DEBUG] Spawning robot with params:", arm_type_str, ee_type_str, bimanual_str, mesh_ext_str)


xacro_path = os.path.join(
get_package_share_directory("openarm_description"),
Expand All @@ -40,6 +43,7 @@ def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bim
"arm_type": arm_type_str,
"ee_type": ee_type_str,
"bimanual": bimanual_str,
"mesh_ext": mesh_ext_str
}
).toprettyxml(indent=" ")

Expand Down Expand Up @@ -92,13 +96,21 @@ def generate_launch_description():
description="Whether to use bimanual configuration"
)

mesh_ext_arg = DeclareLaunchArgument(
"mesh_ext",
default_value="dae",
description="Extension for mesh files (dae, stl, or obj)"
)


arm_type = LaunchConfiguration("arm_type")
ee_type = LaunchConfiguration("ee_type")
bimanual = LaunchConfiguration("bimanual")
mesh_ext = LaunchConfiguration("mesh_ext")

robot_state_publisher_loader = OpaqueFunction(
function=robot_state_publisher_spawner,
args=[arm_type, ee_type, bimanual]
args=[arm_type, ee_type, bimanual, mesh_ext]
)

rviz_loader = OpaqueFunction(
Expand All @@ -110,6 +122,7 @@ def generate_launch_description():
arm_type_arg,
ee_type_arg,
bimanual_arg,
mesh_ext_arg,
robot_state_publisher_loader,
Node(
package="joint_state_publisher_gui",
Expand Down
9 changes: 9 additions & 0 deletions meshes/arm/v10/visual/link0.mtl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v5.3.0)

newmtl DefaultMaterial
Kd 1 1 1
Ka 0.0500000007 0.0500000007 0.0500000007
Ks 1 1 1
illum 1

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