Migrate to Gazebo Fortress

rasmt_support/launch/rasmt_ignition_bridge.launch.py

@@ -0,0 +1,62 @@
+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():
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default=True)
+    log_level = LaunchConfiguration('log_level', default='fatal')
+
+
+    launch_args = []
+    launch_args.append(
+        DeclareLaunchArgument(
+            name='use_sim_time',
+            default_value=use_sim_time,
+            description="If true, use simulated clock"
+        )
+    )
+    launch_args.append(
+        DeclareLaunchArgument(
+            name='log_level',
+            default_value=log_level,
+            description="Log level of all nodes launched by this script"
+        )
+    )
+
+    # JointTrajectory bridge for gripper (ROS2 -> IGN)
+    joint_trajectory_controller_bridge = Node(package='ros_ign_bridge',
+             executable='parameter_bridge',
+             name='parameter_bridge_gripper_trajectory',
+             output='screen',
+             arguments=['/gripper_trajectory@trajectory_msgs/msg/JointTrajectory]ignition.msgs.JointTrajectory',
+                        '--ros-args', '--log-level', log_level],
+             parameters=[{'use_sim_time': use_sim_time}])
+
+            # ros_ign_bridge (clock -> ROS 2)
+    ros2_ign_clock_bridge = Node(
+            package="ros_ign_bridge",
+            executable="parameter_bridge",
+            output="log",
+            arguments=[
+                "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+                "--ros-args",
+                "--log-level",
+                log_level,
+            ],
+            parameters=[{"use_sim_time": use_sim_time}],
+        )
+
+    launch_nodes = []
+    #launch_nodes.append(joint_trajectory_controller_bridge)
+    launch_nodes.append(ros2_ign_clock_bridge)
+
+    return LaunchDescription(launch_nodes + launch_args)