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Merge pull request #527 from JdeRobot/fix-monaco-launcher
Fix monaco and spa launcher
2 parents 2945534 + 446440a commit b02af76

10 files changed

+578
-156
lines changed

‎Launchers/monaco_circuit.launch .py

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‎Launchers/monaco_circuit.launch.py

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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 (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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SetEnvironmentVariable,
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AppendEnvironmentVariable,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, Command
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from launch_ros.actions import Node
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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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x = LaunchConfiguration("x")
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y = LaunchConfiguration("y")
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z = LaunchConfiguration("z")
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roll = LaunchConfiguration("R")
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pitch = LaunchConfiguration("P")
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yaw = LaunchConfiguration("Y")
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package_dir = get_package_share_directory("custom_robots")
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ros_gz_sim = get_package_share_directory("ros_gz_sim")
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gazebo_models_path = os.path.join(package_dir, "models")
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robot_launch_dir = "/opt/jderobot/Launchers/monaco_circuit"
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use_sim_time = LaunchConfiguration("use_sim_time", default="true")
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x_pose = LaunchConfiguration("x_pose", default="1.0")
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y_pose = LaunchConfiguration("y_pose", default="-1.5")
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z_pose = LaunchConfiguration("z_pose", default="7.1")
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world_file_name = "monaco_circuit.world"
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worlds_dir = "/opt/jderobot/Worlds"
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world_path = os.path.join(worlds_dir, world_file_name)
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gazebo_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
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),
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launch_arguments={
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"gz_args": ["-r -s -v4 ", world_path],
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"on_exit_shutdown": "true",
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}.items(),
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)
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declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
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declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
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declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
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declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
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declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
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declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
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robot_state_publisher_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(robot_launch_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_robot_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(robot_launch_dir, "spawn_robot.launch.py")
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),
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launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
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)
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world_entity_cmd = Node(
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package="ros_gz_sim",
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executable="create",
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arguments=["-name", "world", "-file", world_path],
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output="screen",
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)
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ld = LaunchDescription()
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ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
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set_env_vars_resources = AppendEnvironmentVariable(
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"GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
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)
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ld.add_action(set_env_vars_resources)
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ld.add_action(gazebo_server)
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# ld.add_action(gazebo_client)
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ld.add_action(declare_x_cmd)
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ld.add_action(declare_y_cmd)
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ld.add_action(declare_z_cmd)
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ld.add_action(declare_roll_cmd)
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ld.add_action(declare_pitch_cmd)
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ld.add_action(declare_yaw_cmd)
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ld.add_action(world_entity_cmd)
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ld.add_action(robot_state_publisher_cmd)
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ld.add_action(spawn_robot_cmd)
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return ld

‎Launchers/monaco_circuit/robot_state_publisher.launch.py

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#!/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: Darby Lim
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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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use_sim_time = LaunchConfiguration("use_sim_time", default="true")
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urdf_file_name = "turtlebot3_waffle.urdf"
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print("urdf_file_name : {}".format(urdf_file_name))
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urdf_path = os.path.join(
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get_package_share_directory("custom_robots"), "urdf", urdf_file_name
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)
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with open(urdf_path, "r") as infp:
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robot_desc = infp.read()
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="Use simulation (Gazebo) clock if true",
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),
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Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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name="robot_state_publisher",
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output="screen",
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parameters=[
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{"use_sim_time": use_sim_time, "robot_description": robot_desc}
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],
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),
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]
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)

‎Launchers/monaco_circuit/spawn_robot.launch.py

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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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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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# Get the urdf file
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model_folder = "turtlebot3_waffle"
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urdf_path = os.path.join(
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get_package_share_directory("custom_robots"),
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"models",
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model_folder,
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"model.sdf",
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)
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# Launch configuration variables specific to simulation
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# x_pose = LaunchConfiguration('x_pose', default='1.0')
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# y_pose = LaunchConfiguration('y_pose', default='-1.5')
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# z_pose = LaunchConfiguration('z_pose', default='7.1')
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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='1.0',
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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='-1.5',
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# description='Specify namespace of the robot')
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# declare_z_position_cmd = DeclareLaunchArgument(
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# 'z_pose', default_value='7.1',
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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='ros_gz_sim',
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# executable='create',
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# arguments=[
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# '-name', 'waffle',
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# '-file', urdf_path,
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# '-x', x_pose,
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# '-y', y_pose,
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# '-z', z_pose
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# ],
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# output='screen',
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# )
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bridge_params = os.path.join(
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get_package_share_directory("custom_robots"), "params", "robot_params.yaml"
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)
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start_gazebo_ros_bridge_cmd = Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=[
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"--ros-args",
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"-p",
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f"config_file:={bridge_params}",
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],
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output="screen",
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)
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start_gazebo_ros_image_bridge_cmd = Node(
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package="ros_gz_image",
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executable="image_bridge",
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arguments=["/turtlebot3/camera/image_raw"],
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output="screen",
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)
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start_gazebo_ros_depth_bridge_cmd = Node(
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package="ros_gz_image",
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executable="image_bridge",
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arguments=["/turtlebot3/camera/depth"],
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output="screen",
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)
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ld = LaunchDescription()
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# Declare the launch options
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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(declare_z_position_cmd)
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# Add any conditioned actions
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# ld.add_action(start_gazebo_ros_spawner_cmd)
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ld.add_action(start_gazebo_ros_bridge_cmd)
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ld.add_action(start_gazebo_ros_image_bridge_cmd)
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ld.add_action(start_gazebo_ros_depth_bridge_cmd)
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return ld

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