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🔧 add gazebo_ros_state plugin

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This commit is contained in:
Ilya Uraev 2022-01-20 20:16:02 +04:00
parent 2513de6e0d
commit 164cc3cc3f
3 changed files with 146 additions and 10 deletions
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32
rasmt_support/launch/rasmt_gazebo.launch.py
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@ -18,15 +18,25 @@ def generate_launch_description():
description="Set robot name in gazebo env"
))
# Launch Gazebo
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("gazebo_ros"),
"launch",
"gazebo.launch.py"
])
)
world_file = os.path.join(get_package_share_directory("rasmt_support"), "world", "robossembler.world")
gzserver = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("gazebo_ros"),
"launch",
"gzserver.launch.py"
])
), launch_arguments={'world':world_file}.items()
)
gzclient = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("gazebo_ros"),
"launch",
"gzclient.launch.py"
])
)
)
"""xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
@ -55,7 +65,9 @@ def generate_launch_description():
)"""
launch_nodes = []
launch_nodes.append(gazebo)
#launch_nodes.append(gazebo)
launch_nodes.append(gzserver)
launch_nodes.append(gzclient)
launch_nodes.append(spawn_entity)
#launch_nodes.append(cube_spawn)