Merge master branch (ROS1) into ros2 branch (#37)

* Add lidar link rename option (#23) * Add GitHub repository description to README (#27) * Fix slipping (#28) * Update model and add RT Corporation logo (#29) * Update tread (#31) * Add a simple launch file to load robot description (#34) * Support for launching multiple robots (#35) Co-authored-by: Daisuke Sato <[email protected]>
rt-net · Dec 20, 2021 · b9487f2 · b9487f2
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diff --git a/README.md b/README.md
@@ -7,10 +7,14 @@ ROS package with URDF description macro for [Raspberry Pi Mouse](https://rt-net.
 This ROS package was separated from [rt-net/raspimouse_sim](https://github.com/rt-net/raspimouse_sim).  
 See details from [rt-net/raspimouse_sim#42](https://github.com/rt-net/raspimouse_sim/pull/42).
 
-## Requirements
+The main development branch for ROS 1 is [`master`](https://github.com/rt-net/raspimouse_description/tree/master).  
+The main development branch for ROS 2 is [`ros2`](https://github.com/rt-net/raspimouse_description/tree/ros2).
 
-- ROS 2
-  - [Foxy Fitzroy](https://docs.ros.org/en/foxy/index.html)
+## Supported ROS distributions
+
+- ~~Kinetic ([`kinetic-devel`](https://github.com/rt-net/raspimouse_description/tree/kinetic-devel))~~ deprecated
+- Melodic ([`melodic-devel`](https://github.com/rt-net/raspimouse_description/tree/melodic-devel))
+- Foxy ([`foxy-devel`](https://github.com/rt-net/raspimouse_description/tree/foxy-devel))
 
 ## Installation
 

diff --git a/launch/display.launch.py b/launch/display.launch.py
@@ -17,7 +17,9 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
 from launch_ros.actions import Node
+from launch_ros.actions import PushRosNamespace
 from launch.substitutions import Command
 from launch.substitutions import LaunchConfiguration
 
@@ -27,33 +29,57 @@ def generate_launch_description():
         'lidar',
         default_value='none',
         description='Set "none" or "urg".')
+    declare_arg_lidar_frame = DeclareLaunchArgument(
+        'lidar_frame',
+        default_value='laser',
+        description='Set lidar link name.')
+    declare_arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Set namespace for tf tree.')
+    declare_arg_use_rviz = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='true',
+        description='Set "true" to launch rviz.')
 
     xacro_file = os.path.join(
         get_package_share_directory('raspimouse_description'),
         'urdf',
         'raspimouse.urdf.xacro')
-    params = {'robot_description': Command(['xacro ', xacro_file, ' lidar:=', LaunchConfiguration('lidar')])}
+    params = {'robot_description': Command(['xacro ', xacro_file,
+                                            ' lidar:=', LaunchConfiguration('lidar'),
+                                            ' lidar_frame:=', LaunchConfiguration('lidar_frame'),
+                                            ]),
+              'frame_prefix': [LaunchConfiguration('namespace'), '/']}
+
+    push_ns = PushRosNamespace([LaunchConfiguration('namespace')])
 
     rsp = Node(package='robot_state_publisher',
                executable='robot_state_publisher',
                output='both',
                parameters=[params])
+
     jsp = Node(
         package='joint_state_publisher_gui',
         executable='joint_state_publisher_gui',
         output='screen',
-    )
+        condition=IfCondition(LaunchConfiguration('use_rviz')))
 
     rviz_config_file = get_package_share_directory(
         'raspimouse_description') + '/launch/config/urdf.rviz'
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2',
                      output='log',
-                     arguments=['-d', rviz_config_file])
+                     arguments=['-d', rviz_config_file],
+                     condition=IfCondition(LaunchConfiguration('use_rviz')))
 
     return LaunchDescription([
         declare_arg_lidar,
+        declare_arg_lidar_frame,
+        declare_arg_namespace,
+        declare_arg_use_rviz,
+        push_ns,
         rsp,
         jsp,
         rviz_node,

diff --git a/meshes/dae/body/RasPiMouse_TopPlate.dae b/meshes/dae/body/RasPiMouse_TopPlate.dae