declare_rviz_config追加

crane_plus_gazebo/launch/crane_plus_with_table.launch.py

@@ -15,15 +15,17 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from crane_plus_description.robot_description_loader  \
-    import RobotDescriptionLoader
+from crane_plus_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
-from launch.actions  \
-    import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ExecuteProcess
+from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node, SetParameter
+from launch_ros.actions import Node
+from launch_ros.actions import SetParameter
 
 
 def generate_launch_description():
@@ -33,6 +35,24 @@ def generate_launch_description():
         description='Use camera.'
         )
 
+    declare_rviz_config = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_plus_moveit_config'
+        ) + '/config/moveit.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=UnlessCondition(LaunchConfiguration('use_camera')),
+        )
+
+    declare_rviz_config_camera = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_plus_examples'
+        ) + '/launch/camera_example.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=IfCondition(LaunchConfiguration('use_camera')),
+        )
+
     declare_world_name = DeclareLaunchArgument(
         'world_name',
         default_value=os.path.join(
@@ -76,30 +96,17 @@ def generate_launch_description():
     description_loader.use_camera = LaunchConfiguration('use_camera')
     description_loader.use_gazebo = 'true'
     description_loader.gz_control_config_package = 'crane_plus_control'
-    description_loader.gz_control_config_file_path = (
-        'config/crane_plus_controllers.yaml'
-    )
+    description_loader.gz_control_config_file_path = 'config/crane_plus_controllers.yaml'
     description = description_loader.load()
 
     move_group = IncludeLaunchDescription(
             PythonLaunchDescriptionSource([
                 get_package_share_directory('crane_plus_moveit_config'),
                 '/launch/run_move_group.launch.py']),
-            condition=UnlessCondition(LaunchConfiguration('use_camera')),
-            launch_arguments={'loaded_description': description}.items()
-        )
-
-    rviz_config_file = get_package_share_directory(
-        'crane_plus_examples') + '/launch/camera_example.rviz'
-    move_group_camera = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_plus_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            condition=IfCondition(LaunchConfiguration('use_camera')),
             launch_arguments={
                 'loaded_description': description,
-                'rviz_config_file': rviz_config_file
-            }.items()
+                'rviz_config': LaunchConfiguration('rviz_config')
+                }.items()
         )
 
     spawn_joint_state_controller = ExecuteProcess(
@@ -137,11 +144,12 @@ def generate_launch_description():
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
         declare_use_camera,
+        declare_rviz_config,
+        declare_rviz_config_camera,
         declare_world_name,
         gz_gazebo,
         gazebo_spawn_entity,
         move_group,
-        move_group_camera,
         spawn_joint_state_controller,
         spawn_arm_controller,
         spawn_gripper_controller,