robossembler/runtime
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Migrate to Gazebo Fortress

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This commit is contained in:
Ilya Uraev 2023-02-03 07:04:12 +00:00 • committed by Igor Brylyov
parent b34c00a9b9
commit e46c7bef74
113 changed files with 2751 additions and 25450 deletions
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34
rasmt_support/launch/rasmt_gazebo.launch.py
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@ -21,22 +21,20 @@ def generate_launch_description():
world_file = os.path.join(get_package_share_directory("rasmt_support"), "world", "robossembler.world")
#test_world_file = "/home/bill-finger/gazebo_pkgs_ws/gazebo-pkgs/gazebo_grasp_plugin/test_world/test_world_full.world"
gzserver = IncludeLaunchDescription(
# gzserver = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gzserver.launch.py'),
# ), launch_arguments={'world':world_file}.items()
# )
# gzclient = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gzclient.launch.py'),
# )
# )
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("gazebo_ros"),
"launch",
"gzserver.launch.py"
])
), launch_arguments={'world':world_file, 'extra_gazebo_args':'--verbose'}.items()
)
gzclient = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("gazebo_ros"),
"launch",
"gzclient.launch.py"
])
os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gazebo.launch.py'),
)
)
@ -66,9 +64,9 @@ def generate_launch_description():
)"""
launch_nodes = []
#launch_nodes.append(gazebo)
launch_nodes.append(gzserver)
launch_nodes.append(gzclient)
launch_nodes.append(gazebo)
#launch_nodes.append(gzserver)
#launch_nodes.append(gzclient)
launch_nodes.append(spawn_entity)
#launch_nodes.append(cube_spawn)