Test ackermann robot

Author: javizqh

CustomRobots/logistic_ackermann_robot/launch/logistic_ackermann_robot.launch.py

@@ -27,16 +27,22 @@ def launch_setup(context):
     # =========================
     # ROBOT DESCRIPTION (URDF)
     # =========================
-    xacro_file = os.path.join(
-        package_dir,
-        "models",
-        "logistic_ackermann_robot",
-        "logistic_ackermann_robot.urdf.xacro",
-    )
+    # xacro_file = os.path.join(
+    #     package_dir,
+    #     "models",
+    #     "logistic_ackermann_robot",
+    #     "logistic_ackermann_robot.urdf.xacro",
+    # )
+
+    # robot_description_content = xacro.process_file(
+    #     xacro_file
+    # ).toxml()
+
+    ## Temporary SDF load
+    sdf_file = os.path.join(package_dir, 'models', 'logistic_ackermann_robot', 'logistic_ackermann_robot.sdf')
+    with open(sdf_file, 'r') as infp:
+        robot_description_content = infp.read()
 
-    robot_description_content = xacro.process_file(
-        xacro_file
-    ).toxml()
 
     robot_description = {"robot_description": robot_description_content}