Создана базовая конфигурация робота

src/iiwa_bringup/launch/rviz_iiwa.launch.py

@@ -0,0 +1,71 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+
+
+def generate_launch_description():
+    package_name="iiwa_bringup"
+    description_package_name = "iiwa_description"
+
+    declare_model_arg = DeclareLaunchArgument(
+        name="model",
+        default_value=PathJoinSubstitution([
+            FindPackageShare(description_package_name),
+            "urdf",
+            "iiwa7.urdf.xacro"
+        ]),
+        description="Path to the robot URDF/Xacro file"
+    )
+
+    declare_robot_name_arg = DeclareLaunchArgument(
+        name="robot_name",
+        default_value="iiwa7",
+        description="Robot name fro the TF tree"
+    )
+
+    robot_description = Command([
+        "xacro ", LaunchConfiguration('model'),
+        " robot_name:=", LaunchConfiguration("robot_name")
+    ])
+
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="both",
+        parameters=[{
+            "robot_description": robot_description,
+            "use_sim_time": False,
+        }]
+    )
+
+    joint_state_publisher_gui = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        parameters=[{"use_sim_time": False}]
+    )
+
+    rviz_config = PathJoinSubstitution([
+        FindPackageShare(package_name),
+        'config',
+        'rviz_iiwa.rviz'
+    ])
+
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        output='log'
+    )
+
+    return LaunchDescription([
+        declare_model_arg,
+        declare_robot_name_arg,
+        robot_state_publisher,
+        joint_state_publisher_gui,
+        rviz
+    ])