71 lines
2.3 KiB
Python
71 lines
2.3 KiB
Python
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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OpaqueFunction,
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RegisterEventHandler,
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)
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from launch.conditions import IfCondition, UnlessCondition
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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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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)
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launch_args.append(DeclareLaunchArgument(
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name="robot_description_content",
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description="Robot XML file"
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)
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)
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#robot_description_content = {"robot_description":LaunchConfiguration("robot_description_content")}
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robot_description_content = LaunchConfiguration("robot_description_content")
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# launch Ignition Gazebo
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pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
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launch_arguments={'ign_args': '-r empty.sdf'}.items(),
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)
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ros2_ign_bridge = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("rasmt_support"),
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"launch",
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"rasmt_ignition_bridge.launch.py"
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]
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)
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)
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)
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# Spawn
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spawn = Node(package='ros_ign_gazebo', executable='create',
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arguments=[
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'-string', robot_description_content,
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'-name', 'rasmt',
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'-allow_renaming', 'true'],
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output='screen')
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launch_nodes = []
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launch_nodes.append(gazebo)
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launch_nodes.append(spawn)
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launch_nodes.append(ros2_ign_bridge)
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return LaunchDescription(launch_args + launch_nodes)
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