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🔥 Remove extra files

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Ilya Uraev 2022-01-17 20:24:01 +04:00
parent f225e973c4
commit d56759d687
5 changed files with 0 additions and 93 deletions
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54
rasmt_support/launch/gazebo.launch.py
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@ -1,54 +0,0 @@
from launch.launch_description import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
import xacro
import os
from ament_index_python import get_package_share_directory
def generate_launch_description():
# Launch Gazebo
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("gazebo_ros"),
"launch",
"gazebo.launch.py"
])
)
)
xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
# get error if xacro file if missing
assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)
sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf")
spawn_entity = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=[
"-file", xacro_file,
"-entity", "rasmt"
],
output="screen"
)
cube_spawn = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=[
"-file", sdf_file,
"-entity", "cube_station"
]
)
return LaunchDescription(
[
gazebo,
spawn_entity,
#cube_spawn
])