Migrate to Gazebo Fortress

rasmt_support/launch/rasmt_ignition.launch.py

@@ -0,0 +1,71 @@
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+    RegisterEventHandler,
+)
+from launch.conditions import IfCondition, UnlessCondition
+from launch.event_handlers import OnProcessExit
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import xacro
+import os
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+
+    launch_args = []
+    launch_args.append(DeclareLaunchArgument(
+            name="robot_name",
+            default_value="rasmt",
+            description="Set robot name in gazebo env"
+        )
+    )
+    launch_args.append(DeclareLaunchArgument(
+            name="robot_description_content",
+            description="Robot XML file"
+        )
+    )
+
+    #robot_description_content = {"robot_description":LaunchConfiguration("robot_description_content")}
+    robot_description_content = LaunchConfiguration("robot_description_content")
+    # launch Ignition Gazebo
+    pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+        launch_arguments={'ign_args': '-r empty.sdf'}.items(),
+    )
+    
+    ros2_ign_bridge = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("rasmt_support"),
+                    "launch",
+                    "rasmt_ignition_bridge.launch.py"
+                ]
+            )
+        )
+    )
+
+   # Spawn
+    spawn = Node(package='ros_ign_gazebo', executable='create',
+                 arguments=[
+                    '-string', robot_description_content,
+                    '-name', 'rasmt',
+                    '-allow_renaming', 'true'],
+                 output='screen')
+
+
+    launch_nodes = []
+    launch_nodes.append(gazebo)
+    launch_nodes.append(spawn)
+    launch_nodes.append(ros2_ign_bridge)
+
+
+    return LaunchDescription(launch_args + launch_nodes)