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add launch arguments for gazebo

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Added gazebo gui argument and arguments to start without controllers
This commit is contained in:
Ilya Uraev 2024-02-15 19:46:32 +03:00
parent ed6d163e5b
commit dc628f1387
2 changed files with 134 additions and 169 deletions
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22
rbs_bringup/launch/bringup.launch.py
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@ -1,4 +1,4 @@
from launch import LaunchDescription
from launch import LaunchDescription, condition
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
@ -141,6 +141,16 @@ def generate_launch_description():
default_value="gazebo",
description="Choose your harware_interface")
)
declared_arguments.append(
DeclareLaunchArgument("launch_controllers",
default_value="true",
description="Launch controllers?")
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui",
default_value="false",
description="Launch gazebo with gui?")
)
# Initialize Arguments
rbs_robot_type = LaunchConfiguration("rbs_robot_type")
# General arguments
@ -163,7 +173,8 @@ def generate_launch_description():
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
launch_controllers = LaunchConfiguration("launch_controllers")
gazebo_gui = LaunchConfiguration("gazebo_gui")
initial_joint_controllers_file_path = PathJoinSubstitution(
[FindPackageShare(description_package), "config", controllers_file]
@ -241,7 +252,8 @@ def generate_launch_description():
'initial_joint_controller': initial_joint_controller,
'controllers_file': controllers_file,
"cartesian_controllers": cartesian_controllers
}.items())
}.items(),
condition=IfCondition(launch_controllers))
simulation = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
@ -253,8 +265,10 @@ def generate_launch_description():
]),
launch_arguments={
'sim_gazebo': sim_gazebo,
'gazebo_gui': gazebo_gui,
'rbs_robot_type': rbs_robot_type,
'env_manager': env_manager
'env_manager': env_manager,
'debugger': "false"
}.items(),
condition=IfCondition(launch_simulation))