added factory to view robot

lbr_description/launch/view_robot.launch.py

@@ -1,85 +1,69 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
+import os
+from typing import List
 
+from ament_index_python import get_package_share_directory
+from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
+from lbr_description import description_factory
 
-# for reference see
-# https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/rrbot_description
-def generate_launch_description():
-
-    # Launch arguments
-    launch_args = []
-
-    launch_args.append(DeclareLaunchArgument(
-        name='description_package',
-        default_value='lbr_description',
-        description='Description package.'
-    ))
-
-    launch_args.append(DeclareLaunchArgument(
-        name='description_file',
-        default_value='urdf/med7/med7.urdf.xacro',
-        description='Path to URDF file, relative to description_package.'
-    ))
-
-    launch_args.append(DeclareLaunchArgument(
-        name='rviz_pkg',
-        default_value='lbr_description',
-        description='Package containing rviz_config.'
-    ))
 
-    launch_args.append(DeclareLaunchArgument(
-        name='rviz_config',
-        default_value='config/config.rviz',
-        description='Rviz configuration relative to rviz_pkg.'
-    ))
+def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
+    model = LaunchConfiguration("model").perform(context)
+    robot_name = LaunchConfiguration("robot_name").perform(context)
 
-    launch_args.append(DeclareLaunchArgument(
-        name='robot_name',
-        default_value='lbr',
-        description='Set robot name.'
-    ))
+    robot_description = description_factory(model=model, robot_name=robot_name)
 
-    # Load robot description
-    robot_description_content = Command(
-        [
-            FindExecutable(name="xacro"), " ",
-            PathJoinSubstitution(
-                [FindPackageShare(LaunchConfiguration('description_package')), LaunchConfiguration('description_file')]
-            ), " ",
-            "robot_name:=", LaunchConfiguration('robot_name')
-        ]
-    )
-
-    robot_description = {'robot_description': robot_description_content}
-
-    # Create required nodes
-    joint_state_publisher_node = Node(
+    joint_state_publisher_gui_node = Node(
         package="joint_state_publisher_gui",
         executable="joint_state_publisher_gui",
     )
+
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
     )
-    rviz = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', PathJoinSubstitution(
-            [FindPackageShare(LaunchConfiguration('rviz_pkg')), LaunchConfiguration('rviz_config')]
-        )]
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        arguments=[
+            "-d",
+            os.path.join(
+                get_package_share_directory("lbr_description"), "config/config.rviz"
+            ),
+        ],
     )
 
-    return LaunchDescription(
-        launch_args +
-        [
-            joint_state_publisher_node,
-            robot_state_publisher_node,
-            rviz
-        ]
+    return [
+        joint_state_publisher_gui_node,
+        robot_state_publisher_node,
+        rviz_node,
+    ]
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="model",
+            default_value="iiwa7",
+            description="Set robot model.",
+            choices=["iiwa7", "iiwa14", "med7", "med14"],
+        )
     )
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="robot_name", default_value="lbr", description="Set robot name."
+        )
+    )
+
+    ld.add_action(OpaqueFunction(function=launch_setup))
+
+    return ld