69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
#!/usr/bin/env python3
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import os
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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 IncludeLaunchDescription
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from launch.conditions import UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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launch_file_dir = os.path.join(
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get_package_share_directory('turtlebot3_gazebo'),
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'launch'
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)
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pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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x_pose = LaunchConfiguration('x_pose', default='-2.0')
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y_pose = LaunchConfiguration('y_pose', default='-0.5')
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headless = LaunchConfiguration('headless', default='false')
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world = os.path.join(
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get_package_share_directory('turtlebot3_gazebo'),
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'worlds',
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'office.world'
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)
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gzserver_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
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),
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launch_arguments={'world': world}.items()
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)
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gzclient_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
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),
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condition=UnlessCondition(headless)
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)
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robot_state_publisher_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
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),
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launch_arguments={'use_sim_time': use_sim_time}.items()
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)
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spawn_turtlebot_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
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),
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launch_arguments={
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'x_pose': x_pose,
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'y_pose': y_pose
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}.items()
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)
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ld = LaunchDescription()
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ld.add_action(gzserver_cmd)
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ld.add_action(gzclient_cmd)
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ld.add_action(robot_state_publisher_cmd)
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ld.add_action(spawn_turtlebot_cmd)
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return ld
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