runtime/rasmt_support/launch/rasmt_gazebo.launch.py

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from launch.launch_description import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
import xacro
import os
from ament_index_python import get_package_share_directory
def generate_launch_description():
launch_args = []
launch_args.append(DeclareLaunchArgument(
name="robot_name",
default_value="rasmt",
description="Set robot name in gazebo env"
))
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world_file = os.path.join(get_package_share_directory("rasmt_support"), "world", "robossembler.world")
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#test_world_file = "/home/bill-finger/gazebo_pkgs_ws/gazebo-pkgs/gazebo_grasp_plugin/test_world/test_world_full.world"
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# gzserver = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gzserver.launch.py'),
# ), launch_arguments={'world':world_file}.items()
# )
# gzclient = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gzclient.launch.py'),
# )
# )
gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gazebo.launch.py'),
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)
)
"""xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
# get error if xacro file if missing
assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)"""
#sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf")
spawn_entity = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=[
"-topic", "/robot_description",
"-entity", LaunchConfiguration("robot_name")
],
output="screen"
)
"""cube_spawn = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=[
"-file", sdf_file,
"-entity", "cube_station"
]
)"""
launch_nodes = []
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launch_nodes.append(gazebo)
#launch_nodes.append(gzserver)
#launch_nodes.append(gzclient)
launch_nodes.append(spawn_entity)
#launch_nodes.append(cube_spawn)
return LaunchDescription(launch_args + launch_nodes)