71 lines
2.3 KiB
Python
Executable File
71 lines
2.3 KiB
Python
Executable File
# Copyright 2019 Open Source Robotics Foundation, Inc.
|
|
#
|
|
# 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.
|
|
|
|
import os
|
|
|
|
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_ros.actions import Node
|
|
|
|
|
|
def generate_launch_description():
|
|
# Get the urdf file
|
|
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
|
model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
|
|
urdf_path = os.path.join(
|
|
get_package_share_directory('turtlebot3_gazebo'),
|
|
'models',
|
|
model_folder,
|
|
'model.sdf'
|
|
)
|
|
|
|
# Launch configuration variables specific to simulation
|
|
x_pose = LaunchConfiguration('x_pose', default='3.0')
|
|
y_pose = LaunchConfiguration('y_pose', default='3.0')
|
|
|
|
# Declare the launch arguments
|
|
declare_x_position_cmd = DeclareLaunchArgument(
|
|
'x_pose', default_value='3.0',
|
|
description='Specify namespace of the robot')
|
|
|
|
declare_y_position_cmd = DeclareLaunchArgument(
|
|
'y_pose', default_value='3.0',
|
|
description='Specify namespace of the robot')
|
|
|
|
start_gazebo_ros_spawner_cmd = Node(
|
|
package='gazebo_ros',
|
|
executable='spawn_entity.py',
|
|
arguments=[
|
|
'-entity', TURTLEBOT3_MODEL,
|
|
'-file', urdf_path,
|
|
'-x', x_pose,
|
|
'-y', y_pose,
|
|
'-z', '0.01'
|
|
],
|
|
output='screen',
|
|
)
|
|
|
|
ld = LaunchDescription()
|
|
|
|
# Declare the launch options
|
|
ld.add_action(declare_x_position_cmd)
|
|
ld.add_action(declare_y_position_cmd)
|
|
|
|
# Add any conditioned actions
|
|
ld.add_action(start_gazebo_ros_spawner_cmd)
|
|
|
|
return ld
|