Usage
The nao.urdf file is the URDF model of the NAO robot. It is available in the nao_description package’s share directory.
Running Robot State Publisher
To run robot_state_publisher from a python3 launch file, do the following:
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
urdf_file_name = 'nao.urdf'
urdf = os.path.join(get_package_share_directory('nao_description'), 'urdf', urdf_file_name)
with open(urdf, 'r') as infp:
robot_desc = infp.read()
return LaunchDescription([
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[{'robot_description': robot_desc}],
arguments=[urdf])
])