81 lines
2.7 KiB
Python
Executable File
81 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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#
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# Copyright 2019 ROBOTIS CO., 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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#
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# Authors: Joep Tool
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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.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(get_package_share_directory('turtlebot3_gazebo'), 'launch')
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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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world = os.path.join(
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get_package_share_directory('turtlebot3_gazebo'),
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'worlds',
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'turtlebot3_world.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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)
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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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# Add the commands to the launch description
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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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