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add option run gazebo without gui

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This commit is contained in:
Ilya Uraev 2023-07-26 14:59:30 +03:00
parent f76340d78a
commit 157e6b6176
1 changed files with 19 additions and 6 deletions
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25
rbs_simulation/launch/simulation.launch.py
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@ -4,7 +4,7 @@ from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch.conditions import IfCondition from launch.conditions import IfCondition, UnlessCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
@ -25,22 +25,34 @@ def generate_launch_description():
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?") DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
) )
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui", default_value="false", description="Launch env_manager?")
)
sim_gazebo = LaunchConfiguration("sim_gazebo") sim_gazebo = LaunchConfiguration("sim_gazebo")
rbs_robot_type = LaunchConfiguration("rbs_robot_type") rbs_robot_type = LaunchConfiguration("rbs_robot_type")
env_manager_cond = LaunchConfiguration("env_manager") env_manager_cond = LaunchConfiguration("env_manager")
gazebo_gui = LaunchConfiguration("gazebo_gui")
# FIXME: To args when we'll have different files # FIXME: To args when we'll have different files
world_config_file = PathJoinSubstitution( world_config_file = PathJoinSubstitution(
[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"] [FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
) )
# Gazebo nodes # Gazebo nodes
gazebo_server = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
launch_arguments=[('ign_args', [' -r ',world_config_file, " -s"])],
condition=UnlessCondition(gazebo_gui))
gazebo = IncludeLaunchDescription( gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_ign_gazebo'), [os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'ign_gazebo.launch.py')]), 'launch', 'gz_sim.launch.py')]),
launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])], launch_arguments=[('ign_args', [' -r ',world_config_file])],
condition=IfCondition(sim_gazebo)) condition=IfCondition(gazebo_gui))
# Spawn robot # Spawn robot
gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create', gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
arguments=[ arguments=[
@ -59,6 +71,7 @@ def generate_launch_description():
nodes_to_start = [ nodes_to_start = [
gazebo, gazebo,
gazebo_server,
gazebo_spawn_robot, gazebo_spawn_robot,
env_manager env_manager
] ]