How to loading model XML from ros parameter like robot_description in ROS2
Hi, there. I encountered a problem, I don’t know how to load xacro
file into gazebo in ros2
In ROS1, we could load model XML from ros parameter
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find m_bot_description)/urdf/mbot_gazebo.xacro'"/>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
And in ROS2, I've found that the ros2 launch have already supported the command
, maybe I guess the launch file could be written as
I hope there is an option something like -param
in the code where I type -???
, but I only found -file, -topic, -stdin
in the spawn_entity.py to load the xml
How could I modify it to load the xacro file?
Thanks in advance!