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Multi-Robot Setup

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Ilya Uraev 2024-04-18 13:29:36 +00:00 • committed by Igor Brylyov
parent bc48e0c35a
commit d5e7768d90
45 changed files with 4519 additions and 861 deletions
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10
rbs_simulation/launch/simulation.launch.py
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@ -37,12 +37,18 @@ def generate_launch_description():
default_value="false",
description="launch Gazebo with debugger?")
)
declared_arguments.append(
DeclareLaunchArgument("vision_bridge",
default_value="false",
description="Create bridge for rgbd cameras")
)
sim_gazebo = LaunchConfiguration("sim_gazebo")
rbs_robot_type = LaunchConfiguration("rbs_robot_type")
env_manager_cond = LaunchConfiguration("env_manager")
gazebo_gui = LaunchConfiguration("gazebo_gui")
debugger = LaunchConfiguration("debugger")
vision_bridge = LaunchConfiguration("vision_bridge")
# FIXME: To args when we'll have different files
# TODO: Use global variable to find world file in robossembler_db
@ -98,7 +104,7 @@ def generate_launch_description():
'/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
condition=IfCondition(sim_gazebo))
condition=IfCondition(sim_gazebo) and IfCondition(vision_bridge))
rgbd_bridge_in = Node(
package='ros_gz_bridge',
@ -110,7 +116,7 @@ def generate_launch_description():
'/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
condition=IfCondition(sim_gazebo))
condition=IfCondition(sim_gazebo) and IfCondition(vision_bridge))
clock_bridge = Node(
package='ros_gz_bridge',