53 lines
1.8 KiB
Python
53 lines
1.8 KiB
Python
#!/usr/bin/python3
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"""GzWeb 迷你仓库场景：仅 Gazebo Sim + 机器人，无 RViz / Nav2 / SLAM。"""
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from os.path import join
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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 (
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AppendEnvironmentVariable,
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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TimerAction,
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)
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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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def generate_launch_description():
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bcr_bot_path = get_package_share_directory('bcr_bot')
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world_file = LaunchConfiguration(
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'world_file',
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default=join(bcr_bot_path, 'worlds', 'small_warehouse.sdf'),
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)
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gz_sim_share = get_package_share_directory('ros_gz_sim')
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gz_sim = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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join(gz_sim_share, 'launch', 'gz_sim.launch.py')
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),
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launch_arguments={
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'gz_args': PythonExpression(["'-r -s ", world_file, "'"]),
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}.items(),
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)
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spawn = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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join(bcr_bot_path, 'launch', 'warehouse_spawn.launch.py')
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),
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)
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return LaunchDescription([
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AppendEnvironmentVariable(
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name='GZ_SIM_RESOURCE_PATH', value=join(bcr_bot_path, 'worlds')),
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AppendEnvironmentVariable(
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name='GZ_SIM_RESOURCE_PATH', value=join(bcr_bot_path, 'models')),
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AppendEnvironmentVariable(
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name='IGN_GAZEBO_RESOURCE_PATH', value=join(bcr_bot_path, 'worlds')),
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AppendEnvironmentVariable(
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name='IGN_GAZEBO_RESOURCE_PATH', value=join(bcr_bot_path, 'models')),
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DeclareLaunchArgument('world_file', default_value=world_file),
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gz_sim,
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TimerAction(period=8.0, actions=[spawn]),
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])
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