split and sort launch file

rbs_bringup/launch/simulation.launch.py

@@ -0,0 +1,65 @@
+import os
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument("sim_gazebo", default_value="false", description="Gazebo Simulation")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "rbs_robot_type",
+            description="Type of robot by name",
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            default_value="ur5e",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
+    )
+    
+    sim_gazebo = LaunchConfiguration("sim_gazebo")
+    rbs_robot_type = LaunchConfiguration("rbs_robot_type")
+    env_manager_cond = LaunchConfiguration("env_manager")
+
+    # FIXME: To args when we'll have different files
+    world_config_file = PathJoinSubstitution(
+        [FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
+    )
+    # Gazebo nodes
+    gazebo = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [os.path.join(get_package_share_directory('ros_ign_gazebo'),
+                              'launch', 'ign_gazebo.launch.py')]),
+                launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])],
+                condition=IfCondition(sim_gazebo))
+    # Spawn robot
+    gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
+                 arguments=[
+                    '-name', rbs_robot_type,
+                    '-x', '0.0',
+                    '-z', '0.0',
+                    '-y', '0.0',
+                    '-topic', '/robot_description'],
+                 output='screen',
+                 condition=IfCondition(sim_gazebo))
+    
+    env_manager = Node(package="env_manager", 
+                       executable="main",
+                       condition=IfCondition(env_manager_cond)
+                       )
+
+    nodes_to_start = [
+        gazebo,
+        gazebo_spawn_robot,
+        env_manager
+    ]
+    return LaunchDescription(declared_arguments + nodes_to_start)