demo_rviz.launch.py

# Copyright 2021 PickNik Inc.
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import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument


def load_file(package_name, file_path):
    package_path = get_package_share_directory(package_name)
    absolute_file_path = os.path.join(package_path, file_path)

    try:
        with open(absolute_file_path, "r") as file:
            return file.read()
    except EnvironmentError:  # parent of IOError, OSError, WindowsError
        return None


def generate_launch_description():
    robot_description_config = load_file("moveit_visual_tools", "resources/rrbot.urdf")

    robot_description = {"robot_description": robot_description_config}

    robot_description_semantic_config = load_file(
        "moveit_visual_tools", "resources/rrbot.srdf"
    )
    robot_description_semantic = {
        "robot_description_semantic": robot_description_semantic_config
    }

    # Start the demo
    moveit_visual_tools_demo = Node(
        package="moveit_visual_tools",
        executable="moveit_visual_tools_demo",
        output="screen",
        condition=UnlessCondition(LaunchConfiguration("launch_python_demo")),
        parameters=[
            robot_description,
            robot_description_semantic,
        ],
    )

    moveit_visual_tools_demo_py = Node(
        package="moveit_visual_tools",
        executable="moveit_visual_tools_demo.py",
        output="screen",
        condition=IfCondition(LaunchConfiguration("launch_python_demo")),
        parameters=[
            robot_description,
            robot_description_semantic,
        ],
    )

    # RViz
    # TODO: Configure this file
    rviz_config_file = (
        get_package_share_directory("moveit_visual_tools") + "/launch/demo.rviz"
    )
    rviz_node = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        arguments=["-d", rviz_config_file],
        parameters=[
            robot_description,
            robot_description_semantic,
        ],
    )

    # Static TF
    static_tf = Node(
        package="tf2_ros",
        executable="static_transform_publisher",
        name="static_transform_publisher",
        output="log",
        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base"],
    )

    return LaunchDescription(
        [
            DeclareLaunchArgument(
                "launch_python_demo",
                default_value="False",
                description="Launch the Python demo",
            ),
            rviz_node,
            static_tf,
            moveit_visual_tools_demo,
            moveit_visual_tools_demo_py,
        ]
    )