118 lines
4.3 KiB
Python
Executable File
118 lines
4.3 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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# 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, IncludeLaunchDescription, SetEnvironmentVariable
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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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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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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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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use_depth_cloud = LaunchConfiguration('use_depth_cloud', default='true')
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pkg_share_dir = get_package_share_directory('turtlebot3_gazebo')
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world = os.path.join(pkg_share_dir, 'worlds', 'office_gz_dartsim.sdf')
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models_path = os.path.join(pkg_share_dir, 'models')
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office_models_path = os.path.join(models_path, 'turtlebot3_office')
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# Headless mode: no GUI, no RVIZ
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# gui_config = os.path.join(pkg_share_dir, 'gui', 'office_gui.config')
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# gz_args = f'-r {world} --gui-config {gui_config}'
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gz_args = f'-r -s {world}'
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# gz_args = f'-r {world}'
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gz_sim_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('ros_gz_sim'),
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'launch',
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'gz_sim.launch.py'
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)
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),
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launch_arguments={'gz_args': gz_args}.items()
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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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# Fix LaserScan frame_id:
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# bridge publishes on /scan_raw (frame_id = 'burger/base_scan/hls_lfcd_lds')
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# this node republishes on /scan with corrected frame_id = 'base_scan'
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scan_frame_fix_cmd = Node(
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package='turtlebot3_gazebo',
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executable='scan_frame_fix.py',
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output='screen',
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parameters=[{'use_sim_time': True}],
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)
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depth_cloud_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'depth_cloud.launch.py')
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),
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launch_arguments={'use_sim_time': use_sim_time}.items(),
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condition=IfCondition(PythonExpression(["'", use_depth_cloud, "' == 'true'"])),
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)
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ld = LaunchDescription()
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declare_use_depth_cloud_cmd = DeclareLaunchArgument(
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'use_depth_cloud',
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default_value='true',
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description='Launch depth image -> point cloud conversion node'
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)
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# Set GZ_SIM_RESOURCE_PATH so gz sim can resolve model:// URIs
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ld.add_action(SetEnvironmentVariable(
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name='GZ_SIM_RESOURCE_PATH',
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value=office_models_path + os.pathsep + models_path
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))
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# Add the commands to the launch description
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ld.add_action(gz_sim_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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ld.add_action(scan_frame_fix_cmd)
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return ld
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