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This package is barely usable alone since it provides only templates to create more structured launch files in the derived packages (cf. qb_device_bringup).

Launch files

The two launch file templates come in help when loading the description package of a device. It could seem unlikely to split the two files (and actually they are often called sequentially), but it guarantees in a multi-device system to be able to load every single robot description in each device namespace (which is required to setup their control nodes) and to load the whole robot model complete with joint_state_publisher, robot_state_publisher and rviz only once.

load_description_template

This basic launch file just loads the urdf xml robot description in the robot_description ROS param by providing few configuration arguments.

Parameters

model_name (string)

• The name of the xacro URDF model file to be loaded, without extension (e.g. qb_device if it is qb_device.urdf.xacro.). The file must be located in the urdf/ subdirectory of the selected _description package.

namespace (string)

• The namespace prefix of joints and links, necessary with many devices (e.g. my_device creates a robot model composed by my_device_joint_... and my_device_link_... elements).

package_prefix (string)

• The base package name prefix (without "_description") where robot models are stored (e.g. qb_device if it is qb_device_description).

state_publisher_template

This launch file starts the joint_state_publisher and the robot_state_publisher for the given robot_description loaded in the Parameter Server (under the current namespace). If specified also starts rviz.

Parameters

frequency (int, default: 100)

• The publish frequency in Hz of the joint state and the robot state publishers.

package_prefix (string)

• The base package name prefix (without "_description") where robot models are stored (e.g. qb_device if it is qb_device_description).

rviz_config (string)

• The name of the rviz config file to be loaded, without extension (e.g. qb_device if it is qb_device.rviz.). The file must be located in the rviz/ subdirectory of the selected _description package.

source_list_names (string, default: [joint_states])

• The joint state source list for the joint_state_publisher (including square braces).

use_joint_state_gui (bool, default: false)

• Selects whether to load the joint_state_publisher joint state GUI.

use_rviz (bool, default: true)

• Selects whether to load rviz.