61 lines
2.1 KiB
Python
Executable File
61 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright 2019 Open Source Robotics Foundation, Inc.
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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: HyunGyu Kim
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import os
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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_ros.actions import Node
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def generate_launch_description():
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TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
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x_pose = LaunchConfiguration('x_pose', default='0.0')
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y_pose = LaunchConfiguration('y_pose', default='0.0')
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robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
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namespace = LaunchConfiguration('namespace', default='')
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sdf_path = LaunchConfiguration('sdf_path', default='')
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declare_x_position_cmd = DeclareLaunchArgument(
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'x_pose', default_value='0.0',
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description='Specify namespace of the robot')
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declare_y_position_cmd = DeclareLaunchArgument(
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'y_pose', default_value='0.0',
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description='Specify namespace of the robot')
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start_gazebo_ros_spawner_cmd = Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=[
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'-entity', robot_name,
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'-file', sdf_path,
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'-x', x_pose,
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'-y', y_pose,
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'-z', '0.01',
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'-robot_namespace', namespace
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],
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output='screen',
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)
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ld = LaunchDescription()
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ld.add_action(declare_x_position_cmd)
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ld.add_action(declare_y_position_cmd)
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ld.add_action(start_gazebo_ros_spawner_cmd)
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return ld
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