Roslaunch support#20
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| # Keep the directories of linked dependencies in the installed binaries' RPATH | ||
| # so shared libs (e.g. libkdl_parser.so from the ROS env) resolve at runtime | ||
| # when run from the install tree, e.g. via `ros2 run` / `ros2 launch`. | ||
| set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) |
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Is this a common pattern in ROS2 packages?
If this is not a common pattern, I want to avoid this. (Only users who need this specify this by cmake ... -DCMAKE_INSTALL_RPATH_USE_LINK_PATH=TRUE.)
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Thanks for the heads-up.
It was a bit of a workaround, so I'll double check this over the weekend.
| out_dir = os.path.join(tempfile.gettempdir(), "openarm_urdf_gen") | ||
| os.makedirs(out_dir, exist_ok=True) | ||
| urdf_path = os.path.join(out_dir, f"openarm_{arm_type}.urdf") | ||
| with open(urdf_path, "w") as f: | ||
| f.write(urdf_xml) |
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Is this a common pattern that we generate a temporary file like this?
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I don't think it is.
This is a direct translation from the method used in the scripts/ folder, but it would probably be better to handle urdf generation outside the launch file (e.g. during the openarm_description build).
openarm_teleop/script/launch_bilateral.sh
Lines 48 to 50 in eb2d493
I will try to make some time to check how the other hardware makers are handling this!
Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
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Enables to launch teleop control via roslaunch (#17)
Changes
arm_type=bothto launch both right and left arms at oncescripts/seem to need some changes to address the latestopenarm_description)