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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| #!/usr/bin/python3 | ||
|
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| from os.path import join | ||
| from xacro import parse, process_doc | ||
|
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| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration, Command | ||
|
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| from launch_ros.actions import Node | ||
|
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| from ament_index_python.packages import get_package_share_directory | ||
|
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| def get_xacro_to_doc(xacro_file_path, mappings): | ||
| doc = parse(open(xacro_file_path)) | ||
| process_doc(doc, mappings=mappings) | ||
| return doc | ||
|
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| def generate_launch_description(): | ||
|
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| bcr_bot_path = get_package_share_directory("bcr_bot") | ||
| position_x = LaunchConfiguration("position_x") | ||
| position_y = LaunchConfiguration("position_y") | ||
| orientation_yaw = LaunchConfiguration("orientation_yaw") | ||
| camera_enabled = LaunchConfiguration("camera_enabled", default=True) | ||
| stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False) | ||
| two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True) | ||
| odometry_source = LaunchConfiguration("odometry_source") | ||
|
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| # robot_description_content = get_xacro_to_doc( | ||
| # join(bcr_bot_path, "urdf", "bcr_bot.xacro"), | ||
| # {"sim_gz": "true", | ||
| # "two_d_lidar_enabled": "true", | ||
| # "conveyor_enabled": "false", | ||
| # "camera_enabled": "true" | ||
| # } | ||
| # ).toxml() | ||
|
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| robot_state_publisher = Node( | ||
| package="robot_state_publisher", | ||
| executable="robot_state_publisher", | ||
| name="robot_state_publisher", | ||
| parameters=[ | ||
| {'robot_description': Command( \ | ||
| ['xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'), | ||
| ' camera_enabled:=', camera_enabled, | ||
| ' stereo_camera_enabled:=', stereo_camera_enabled, | ||
| ' two_d_lidar_enabled:=', two_d_lidar_enabled, | ||
| ' odometry_source:=', odometry_source, | ||
| ' sim_ign:=', "true" | ||
| ])}], | ||
| remappings=[ | ||
| ('/joint_states', 'bcr_bot/joint_states'), | ||
| ] | ||
| ) | ||
|
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||
| gz_spawn_entity = Node( | ||
| package="ros_gz_sim", | ||
| executable="create", | ||
| arguments=[ | ||
| "-topic", "/robot_description", | ||
| "-name", "bcr_bot", | ||
| "-allow_renaming", "true", | ||
| "-z", "0.28", | ||
| "-x", position_x, | ||
| "-y", position_y, | ||
| "-Y", orientation_yaw | ||
| ] | ||
| ) | ||
|
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||
| gz_ros2_bridge = Node( | ||
| package="ros_gz_bridge", | ||
| executable="parameter_bridge", | ||
| arguments=[ | ||
| "/cmd_vel@geometry_msgs/msg/[email protected]", | ||
| "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock", | ||
| "/odom@nav_msgs/msg/Odometry[ignition.msgs.Odometry", | ||
| "/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V", | ||
| "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", | ||
| "/kinect_camera@sensor_msgs/msg/Image[ignition.msgs.Image", | ||
| "/stereo_camera/left/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image", | ||
| "stereo_camera/right/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image", | ||
| "kinect_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", | ||
| "stereo_camera/left/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", | ||
| "stereo_camera/right/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", | ||
| "/kinect_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", | ||
| "/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU", | ||
| "/world/default/model/bcr_bot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model" | ||
| ], | ||
| remappings=[ | ||
| ('/world/default/model/bcr_bot/joint_state', 'bcr_bot/joint_states'), | ||
| ('/odom', 'bcr_bot/odom'), | ||
| ('/scan', 'bcr_bot/scan'), | ||
| ('/kinect_camera', 'bcr_bot/kinect_camera'), | ||
| ('/stereo_camera/left/image_raw', 'bcr_bot/stereo_camera/left/image_raw'), | ||
| ('/stereo_camera/right/image_raw', 'bcr_bot/stereo_camera/right/image_raw'), | ||
| ('/imu', 'bcr_bot/imu'), | ||
| ('/cmd_vel', 'bcr_bot/cmd_vel'), | ||
| ('kinect_camera/camera_info', 'bcr_bot/kinect_camera/camera_info'), | ||
| ('stereo_camera/left/camera_info', 'bcr_bot/stereo_camera/left/camera_info'), | ||
| ('stereo_camera/right/camera_info', 'bcr_bot/stereo_camera/right/camera_info'), | ||
| ('/kinect_camera/points', 'bcr_bot/kinect_camera/points'), | ||
| ] | ||
| ) | ||
|
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||
| transform_publisher = Node( | ||
| package="tf2_ros", | ||
| executable="static_transform_publisher", | ||
| arguments = ["--x", "0.0", | ||
| "--y", "0.0", | ||
| "--z", "0.0", | ||
| "--yaw", "0.0", | ||
| "--pitch", "0.0", | ||
| "--roll", "0.0", | ||
| "--frame-id", "kinect_camera", | ||
| "--child-frame-id", "bcr_bot/base_footprint/kinect_camera"] | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| DeclareLaunchArgument("camera_enabled", default_value = camera_enabled), | ||
| DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled), | ||
| DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled), | ||
| DeclareLaunchArgument("position_x", default_value="0.0"), | ||
| DeclareLaunchArgument("position_y", default_value="0.0"), | ||
| DeclareLaunchArgument("orientation_yaw", default_value="0.0"), | ||
| DeclareLaunchArgument("odometry_source", default_value="world"), | ||
| robot_state_publisher, | ||
| gz_spawn_entity, transform_publisher, gz_ros2_bridge | ||
| ]) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| #!/usr/bin/python3 | ||
|
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||
| from os.path import join | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription | ||
| from launch.substitutions import LaunchConfiguration,PythonExpression | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from ament_index_python.packages import get_package_share_directory | ||
| from launch.actions import AppendEnvironmentVariable | ||
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| def generate_launch_description(): | ||
| use_sim_time = LaunchConfiguration("use_sim_time", default=True) | ||
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| bcr_bot_path = get_package_share_directory("bcr_bot") | ||
| world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, "worlds", "small_warehouse.sdf")) | ||
| gz_sim_share = get_package_share_directory("ros_gz_sim") | ||
|
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| gz_sim = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")), | ||
| launch_arguments={ | ||
| "gz_args" : PythonExpression(["'", world_file, " -r'"]) | ||
|
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| }.items() | ||
| ) | ||
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| spawn_bcr_bot_node = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_ign_spawn.launch.py")), | ||
| launch_arguments={ | ||
| # Pass any arguments if your spawn.launch.py requires | ||
| }.items() | ||
| ) | ||
|
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| return LaunchDescription([ | ||
|
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| AppendEnvironmentVariable( | ||
| name='IGN_GAZEBO_RESOURCE_PATH', | ||
| value=join(bcr_bot_path, "worlds")), | ||
|
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| AppendEnvironmentVariable( | ||
| name='IGN_GAZEBO_RESOURCE_PATH', | ||
| value=join(bcr_bot_path, "models")), | ||
|
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| DeclareLaunchArgument("use_sim_time", default_value=use_sim_time), | ||
| DeclareLaunchArgument("world_file", default_value=world_file), | ||
|
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| gz_sim, spawn_bcr_bot_node | ||
| ]) |
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