Added robotoid's urdf

toid_bot_description/launch/display.launch.py

@@ -0,0 +1,50 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('toid_bot_description')
+    default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'default.rviz')
+
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
+    )
+
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'robot_description': Command(['xacro ', default_model_path])}],
+        condition=UnlessCondition(LaunchConfiguration('gui'))
+    )
+
+    joint_state_publisher_gui_node = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        condition=IfCondition(LaunchConfiguration('gui'))
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path]
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(name='gui', default_value='True', description='Flag to enable joint_state_publisher'),
+        DeclareLaunchArgument(name='model', default_value=default_model_path, description='Path to model'),
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz_node
+    ])