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