Fixed writing urdf file to package folder

launch/driver.launch.py

@@ -2,34 +2,15 @@
 # Licensed under the MIT License.
 
 import os
-import xacro
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription, conditions
 from launch.actions import (DeclareLaunchArgument, GroupAction)
-from launch.substitutions import LaunchConfiguration, Command
+from launch.substitutions import LaunchConfiguration, Command, FindExecutable
 
 import launch.actions
 import launch_ros.actions
 
-def to_urdf(xacro_path, urdf_path=None):
-    """Convert the given xacro file to URDF file.
-    * xacro_path -- the path to the xacro file
-    * urdf_path -- the path to the urdf file
-    """
-    # If no URDF path is given, use a temporary file
-    if urdf_path is None:
-        urdf_path = os.path.join(
-            get_package_share_directory("azure_kinect_ros_driver"),
-            "urdf",
-            "azure_kinect.urdf")
-    # open and process file
-    doc = xacro.process_file(xacro_path)
-    # open the output file
-    out = xacro.open_output(urdf_path)
-    out.write(doc.toprettyxml(indent='  '))
-
-    return urdf_path  # Return path to the urdf file
 
 def generate_launch_description():
     # Note: tf_prefix is not supported as an argument to the xacro file for robot/joint state publishers
@@ -40,9 +21,7 @@ def generate_launch_description():
             "azure_kinect.urdf.xacro")
     print("Robot description xacro_file : {}".format(xacro_file))
 
-    urdf_path = to_urdf(xacro_file) # convert, xacro to urdf
-    urdf = open(urdf_path).read()
-    print("Robot description urdf_path : {}".format(urdf_path))
+    urdf = Command([FindExecutable(name='xacro'), ' ', xacro_file])
 
     # Variable used for the flag to publish a standalone azure_description instead of the default robot_description parameter
     remappings = [('robot_description', 'azure_description')]
@@ -173,7 +152,6 @@ def generate_launch_description():
         package='joint_state_publisher',
         executable='joint_state_publisher',
         name='joint_state_publisher',
-        arguments=[urdf_path],
         condition=conditions.IfCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
     # If flag overwrite_robot_description is not set:
     launch_ros.actions.Node(
@@ -187,7 +165,6 @@ def generate_launch_description():
         package='joint_state_publisher',
         executable='joint_state_publisher',
         name='joint_state_publisher',
-        arguments=[urdf_path],
         remappings=remappings,
         condition=conditions.UnlessCondition(launch.substitutions.LaunchConfiguration("overwrite_robot_description"))),
-    ])
+    ])