62 lines
1.9 KiB
Python
62 lines
1.9 KiB
Python
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from launch.launch_description import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.actions import Node
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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import xacro
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import os
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from ament_index_python import get_package_share_directory
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def generate_launch_description():
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launch_args = []
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launch_args.append(DeclareLaunchArgument(
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name="robot_name",
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default_value="rasmt",
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description="Set robot name in gazebo env"
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))
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# Launch Gazebo
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare("gazebo_ros"),
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"launch",
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"gazebo.launch.py"
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])
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)
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)
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"""xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
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# get error if xacro file if missing
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assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)"""
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#sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf")
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spawn_entity = Node(
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package="gazebo_ros",
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executable="spawn_entity.py",
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arguments=[
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"-topic", "/robot_description",
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"-entity", LaunchConfiguration("robot_name")
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],
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output="screen"
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)
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"""cube_spawn = Node(
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package="gazebo_ros",
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executable="spawn_entity.py",
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arguments=[
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"-file", sdf_file,
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"-entity", "cube_station"
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]
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)"""
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launch_nodes = []
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launch_nodes.append(gazebo)
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launch_nodes.append(spawn_entity)
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#launch_nodes.append(cube_spawn)
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return LaunchDescription(launch_args + launch_nodes)
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