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])
    ])