[dynamixel_general_hw] Enable to pass Xacro args to parse robot_descr…

…iption_file

dynamixel_general_hw/README.md

@@ -309,6 +309,7 @@ Required Arguments:
   dynamixel_info_file: Configuration file for target Dynamixel actuators (e.g., '/home/pazeshun/catkin_ws/src/dynamixel-workbench/dynamixel_general_hw/config/sample1_2/dynamixel_info.yaml')
   namespace: Namespace of the nodes started by this launch file. Specifying your robot's name or the name of the part using target actuators is recommended (e.g., 'sample_robot')
   port_name: Port connecting with target Dynamixel actuators (e.g., '/dev/ttyUSB0')
+  robot_description_args: Xacro args to parse robot_description_file
   robot_description_file: URDF/Xacro of your robot (e.g., '/home/pazeshun/catkin_ws/src/dynamixel-workbench/dynamixel_general_hw/urdf/sample1.urdf'). If 'set_robot_description' is false, you can set a dummy string to this argument because this argument is not used
 Optional Arguments:
   calculate_effort (default "true"): Whether to calculate joint effort from Dynamixel actuator current/load

dynamixel_general_hw/launch/dynamixel_general_control.launch

@@ -19,6 +19,8 @@
        doc="Whether to set robot_description parameter at launching" />
   <arg name="robot_description_param" default="robot_description"
        doc="Name of robot_description parameter read by the nodes started by this launch file. If this is a relative name, its global name becomes (namespace)/(robot_description_param)" />
+  <arg name="robot_description_args" default=""
+       doc="Xacro args to parse robot_description_file" />
   <arg name="launch_robot_state_publisher" default="true"
        doc="Whether to start robot_state_publisher at launching" />
   <arg name="required" default="true"
@@ -44,7 +46,7 @@
 
     <param if="$(arg set_robot_description)"
            name="$(arg robot_description_param)"
-           command="$(find xacro)/xacro $(arg robot_description_file)" />
+           command="$(find xacro)/xacro $(arg robot_description_file) $(arg robot_description_args)" />
 
     <node if="$(arg launch_robot_state_publisher)"
           name="robot_state_publisher"