Ongoing : windows rviz

JoshWorld · May 28, 2021 · af78ea7 · af78ea7
1 parent 97a8daa
commit af78ea7
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/gcamp_gazebo/launch/gcamp_world_windows.launch.py b/gcamp_gazebo/launch/gcamp_world_windows.launch.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 #
-# Copyright 2019 ROBOTIS CO., LTD.
+# Copyright 2021 Kimsooyoung
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -28,6 +28,7 @@
 
 def generate_launch_description():
 
+    rviz_file = "skidbot.rviz"
     robot_file = "skidbot.urdf"
     package_name = "gcamp_gazebo"
     world_file_name = "bocbot_office.world"
@@ -37,6 +38,7 @@ def generate_launch_description():
         get_package_share_directory(package_name), "worlds", world_file_name
     )
     urdf = os.path.join(get_package_share_directory(package_name), "urdf", robot_file)
+    rviz = os.path.join(get_package_share_directory(package_name), "rviz", rviz_file)
 
     use_sim_time = LaunchConfiguration("use_sim_time", default="True")
     pkg_gazebo_ros = get_package_share_directory("gazebo_ros")
@@ -64,5 +66,9 @@ def generate_launch_description():
                 name='spawn_skidbot',
                 output='screen'
             ),
+            # TODO: Windows Rviz
+            # ExecuteProcess(
+            #     cmd=["ros2", "run", "rviz2", "rviz2", "-d", rviz], output="screen"
+            # ),
         ]
     )