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rbs_utils in env_manager and clear code

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This commit is contained in:
Ilya Uraev 2023-12-14 12:00:35 +03:00
parent 0588a5f6c6
commit 34c8961723
23 changed files with 536 additions and 237 deletions
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18
rbs_simulation/launch/simulation.launch.py
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@ -34,8 +34,9 @@ def generate_launch_description():
env_manager_cond = LaunchConfiguration("env_manager")
gazebo_gui = LaunchConfiguration("gazebo_gui")
# FIXME: To args when we'll have different files
print(os.getenv("IGN_GAZEBO_RESOURCE_PATH").__str__())
world_config_file = PathJoinSubstitution(
[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
[FindPackageShare("rbs_simulation"), "worlds", "asm2.sdf"]
)
# Gazebo nodes
@ -81,6 +82,18 @@ def generate_launch_description():
output='screen',
)
rgbd_bridge_in = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/inner_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
'/inner_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
'/inner_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
'/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
)
nodes_to_start = [
@ -88,6 +101,7 @@ def generate_launch_description():
gazebo_server,
gazebo_spawn_robot,
env_manager,
rgbd_bridge_out
rgbd_bridge_out,
rgbd_bridge_in
]
return LaunchDescription(declared_arguments + nodes_to_start)