Fix monaco and spa launcher

Launchers/monaco_circuit.launch.py

@@ -0,0 +1,105 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    robot_launch_dir = "/opt/jderobot/Launchers/monaco_circuit"
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "monaco_circuit.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
+
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+        ),
+        launch_arguments={"use_sim_time": use_sim_time}.items(),
+    )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        ),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld

Launchers/monaco_circuit/robot_state_publisher.launch.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Darby Lim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    urdf_file_name = "turtlebot3_waffle.urdf"
+
+    print("urdf_file_name : {}".format(urdf_file_name))
+
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"), "urdf", urdf_file_name
+    )
+
+    with open(urdf_path, "r") as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "use_sim_time",
+                default_value="true",
+                description="Use simulation (Gazebo) clock if true",
+            ),
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                name="robot_state_publisher",
+                output="screen",
+                parameters=[
+                    {"use_sim_time": use_sim_time, "robot_description": robot_desc}
+                ],
+            ),
+        ]
+    )

Launchers/monaco_circuit/spawn_robot.launch.py

@@ -0,0 +1,107 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the urdf file
+    model_folder = "turtlebot3_waffle"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "robot_params.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/turtlebot3/camera/image_raw"],
+        output="screen",
+    )
+
+    start_gazebo_ros_depth_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/turtlebot3/camera/depth"],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld