Added Declare Lunach Argument to define the use of the gripper.

SteMuc · Apr 22, 2024 · 87aa42b · 87aa42b
1 parent 463c2bd
commit 87aa42b
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 6 deletions.
diff --git a/my_panda_description/launch/description_launch.launch.py b/my_panda_description/launch/description_launch.launch.py
@@ -15,7 +15,6 @@ def generate_launch_description():
     robot_description = Command(
         [FindExecutable(name='xacro'), ' ', franka_xacro_file, ' hand:=', load_gripper])
 
-
     return LaunchDescription([
         DeclareLaunchArgument(
             load_gripper_parameter_name,

diff --git a/my_panda_viz/launch/view_model.launch.py b/my_panda_viz/launch/view_model.launch.py
@@ -9,9 +9,14 @@
 from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
-
 def generate_launch_description():
-
+
+    # Declare the launch argument for load_gripper_value
+    load_gripper_value_launch_arg = DeclareLaunchArgument(
+        'load_gripper_value',
+        default_value='true'
+    )
+
     rviz_file = os.path.join(get_package_share_directory('my_panda_viz'), 'rviz',
                              'visualize_franka.rviz')
 
@@ -28,16 +33,19 @@ def generate_launch_description():
         arguments=['-d', rviz_file],
         output='screen'
     )
-
     launch_franka_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory(
                 'my_panda_description'), 'launch/description_launch.launch.py')
-        )
+        ),
+        # launch_arguments={'load_gripper': 'false'}.items()
+
+        # Pass the launch argument and its value
+        launch_arguments={'load_gripper': LaunchConfiguration('load_gripper_value')}.items()
     )
 
     return LaunchDescription(
-        [
+        [   load_gripper_value_launch_arg,
             node_joint_state_publisher_gui,
             node_rviz,
             launch_franka_description,