88 lines
2.7 KiB
Python
Executable File
88 lines
2.7 KiB
Python
Executable File
# 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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# Migrated from Gazebo Classic to Gazebo Sim (gz-sim / Harmonic)
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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 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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# Pre-resolve package paths (portable across environments)
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turtlebot3_gazebo_share = get_package_share_directory('turtlebot3_gazebo')
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# Get the SDF file
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TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
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model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
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sdf_path = os.path.join(
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turtlebot3_gazebo_share,
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'models',
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model_folder,
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'model_gz.sdf'
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)
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# Bridge configuration YAML (avoids --ros-args -p @ parsing issue)
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bridge_config_path = os.path.join(
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turtlebot3_gazebo_share, 'config', 'turtlebot3_gz_bridge.yaml'
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)
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# Launch configuration variables specific to simulation
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x_pose = LaunchConfiguration('x_pose', default='3.0')
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y_pose = LaunchConfiguration('y_pose', default='3.0')
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# Declare the launch arguments
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declare_x_position_cmd = DeclareLaunchArgument(
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'x_pose', default_value='3.0',
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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='3.0',
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description='Specify namespace of the robot')
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start_gz_spawner_cmd = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-name', TURTLEBOT3_MODEL,
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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', '0.03'
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],
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output='screen',
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)
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start_bridge_cmd = Node(
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package='ros_gz_bridge',
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executable='bridge_node',
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parameters=[{
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'config_file': bridge_config_path,
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'use_sim_time': True,
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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_gz_spawner_cmd)
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ld.add_action(start_bridge_cmd)
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return ld
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