[meta-arago] [meta-processor-sdk] mmwave-ros-autonomous-robotics: add launch file for robot description

[Hongmei Gou]

Signed-off-by: Hongmei Gou <***@ti.com>
---
.../ros-mmwave/files/0003-turtlebot-bringup-description.launch | 4 ++++
recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb | 4 +++-
2 files changed, 7 insertions(+), 1 deletion(-)
create mode 100644 recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch

diff --git a/recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch b/recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch
new file mode 100644
index 0000000..8e37309
--- /dev/null
+++ b/recipes-ros/ros-mmwave/files/0003-turtlebot-bringup-description.launch
@@ -0,0 +1,4 @@
+<launch>
+ <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/kobuki_hexagons_radar.urdf.xacro'"/>
+ <param name="robot_description" command="$(arg urdf_file)"/>
+</launch>
diff --git a/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb b/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
index 2bce70f..010002f 100644
--- a/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
+++ b/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
@@ -11,11 +11,12 @@ SRC_URI += "file://0001-turtlebot-bringup-description-launch-xml.patch;patchdir=
file://0002-turtlebot-bringup-minimal-launch.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup \
file://0001-turtlebot-navigation-params-yaml.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot_apps/turtlebot_navigation \
file://0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch;patchdir=${S} \
+ file://0003-turtlebot-bringup-description.launch \
"

S = "${WORKDIR}/${P}/turtlebot_mmwave_launchers"

-PR = "r2"
+PR = "r3"

inherit catkin

@@ -39,6 +40,7 @@ do_install_append() {
install -d ${D}${ros_datadir}/turtlebot_description
cp -r ${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup/* ${D}${ros_datadir}/turtlebot_bringup
cp -r ${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_description/* ${D}${ros_datadir}/turtlebot_description
+ cp ${WORKDIR}/0003-turtlebot-bringup-description.launch ${D}${ros_datadir}/turtlebot_bringup/launch/description.launch
rm -rf ${D}${ros_datadir}/turtlebot_bringup/patches

install -d ${D}${ros_datadir}/turtlebot_navigation