114 lines
3.0 KiB
Python
114 lines
3.0 KiB
Python
import os.path
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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 ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory
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from launch.substitutions import Command
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def generate_launch_description():
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ld = LaunchDescription()
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pkg_name = 'sherpa'
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pkg_share = get_package_share_directory(pkg_name)
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pkg_prefix = os.path.dirname(pkg_share)
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world_path = os.path.join(pkg_share, 'worlds', 'empty.world')
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xacro_file = os.path.join(pkg_share, 'urdf', 'sherpa.xacro')
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# create nodes
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gz_env = SetEnvironmentVariable(
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name='GZ_SIM_RESOURCE_PATH',
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value=[pkg_prefix]
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)
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gz = ExecuteProcess(
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cmd=[
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'ros2', 'launch', 'ros_gz_sim', 'gz_sim.launch.py',
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f'gz_args:=-r {world_path}'
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],
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output='screen'
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)
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state_publisher = 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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'robot_description': Command(['xacro ', xacro_file])
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}]
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)
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controller = Node(
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package='controller_manager',
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executable='spawner',
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arguments=['ackermann_controller'],
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output='screen'
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)
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joint_state_broadcaster = Node(
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package='controller_manager',
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executable='spawner',
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arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
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parameters=[{'use_sim_time': True}],
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output='screen'
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)
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static_tf = Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='static_tf_base_to_lidar',
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arguments=[
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'0', '0', '0',
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'0', '0', '0',
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'velodyne',
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'base_link',
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]
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)
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robot = ExecuteProcess(
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cmd=[
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'ros2', 'run', 'ros_gz_sim', 'create',
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'-name', 'sherpa',
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'-topic', 'robot_description',
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'-x', '0', '-y', '0', '-z', '0.5'
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],
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output='screen'
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)
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gz_bridge = 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:={os.path.join(pkg_share, 'config', 'gz_bridge.yaml')}",
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]
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)
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rviz2 = Node(
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package='rviz2',
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executable='rviz2',
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arguments=['-d', f"{os.path.join(get_package_share_directory('sherpa'), 'config', 'sherpa.rviz')}"]
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)
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ld.add_action(gz_env)
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ld.add_action(gz)
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ld.add_action(state_publisher)
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ld.add_action(static_tf)
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ld.add_action(robot)
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ld.add_action(gz_bridge)
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ld.add_action(joint_state_broadcaster)
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ld.add_action(controller)
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ld.add_action(rviz2)
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return ld
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