aubo_ros2_description/launch/robot_world_launch.py

55 lines
1.8 KiB
Python

#!/usr/bin/env python
# Copyright 1996-2023 Cyberbotics Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Launch Webots Universal Robot simulation world."""
import launch
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.substitutions.path_join_substitution import PathJoinSubstitution
from webots_ros2_driver.webots_launcher import WebotsLauncher
PACKAGE_NAME = 'aubo_description'
def generate_launch_description():
package_dir = get_package_share_directory(PACKAGE_NAME)
world = LaunchConfiguration('world')
# Starts Webots
webots = WebotsLauncher(
world=PathJoinSubstitution([package_dir, 'world', world]),
ros2_supervisor=True
)
return LaunchDescription([
DeclareLaunchArgument(
'world',
default_value='aubo_robot.wbt',
),
webots,
webots._supervisor,
# This action will kill all nodes once the Webots simulation has exited
launch.actions.RegisterEventHandler(
event_handler=launch.event_handlers.OnProcessExit(
target_action=webots,
on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
)
)
])