🔖 renaming robot

rasms_moveit_config/launch/rasms_simulation.launch.py

@@ -0,0 +1,49 @@
+from launch.launch_description import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+
+    # Launch arguments
+    launch_args = []
+
+    launch_args.append(DeclareLaunchArgument(
+        name="robot_name",
+        default_value="rasms_description",
+        description="Set robot name."
+    ))
+
+    # Launch Gazebo
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare("gazebo_ros"), 
+                "launch", 
+                "gazebo.launch.py"
+            ])
+        )
+    )
+
+    # Note: Environment variable GAZEBO_MODEL_PATH is extended as in 
+    # ROS2 control demos via environment hook https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/rrbot_description
+    # Also see https://colcon.readthedocs.io/en/released/developer/environment.html#dsv-files
+    # Gazebo launch scripts append GAZEBO_MODEL_PATH with known paths, see https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ab1ae5c05eda62674b36df74eb3be8c93cdc8761/gazebo_ros/launch/gzclient.launch.py#L26
+    spawn_entity = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        arguments=[
+            "-topic", "robot_description",
+            "-entity", LaunchConfiguration("robot_name")
+        ],
+        output="screen"
+    )
+
+    return LaunchDescription(
+        launch_args + [
+            gazebo,
+            spawn_entity
+    ])