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jasmeet0915jasmeet0915
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Added launch file for launching demo_worlds (space-ros#46)
Signed-off-by: Jasmeet Singh <[email protected]>
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Diff for: ‎custom_gz_plugins/CMakeLists.txt

+9-3
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,15 @@ find_package(ament_cmake REQUIRED)
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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add_subdirectory(src/DayLightManager)
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add_subdirectory(src/DustManager)
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## Install the launch directory
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install(
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DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
@@ -23,7 +32,4 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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endif()
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add_subdirectory(src/DayLightManager)
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add_subdirectory(src/DustManager)
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ament_package()

Diff for: ‎custom_gz_plugins/launch/demo_world.launch.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,163 @@
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from http.server import executable
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler, IncludeLaunchDescription
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from launch.substitutions import TextSubstitution, PathJoinSubstitution, LaunchConfiguration, Command
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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 launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.event_handlers import OnProcessExit, OnExecutionComplete
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import os
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from os import environ
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from ament_index_python.packages import get_package_share_directory
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import xacro
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def generate_launch_description():
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mars_rover_demos_path = get_package_share_directory('mars_rover')
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mars_rover_models_path = get_package_share_directory('simulation')
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env = {'GZ_SIM_SYSTEM_PLUGIN_PATH':
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':'.join([environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', default=''),
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environ.get('LD_LIBRARY_PATH', default='')]),
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'GZ_SIM_RESOURCE_PATH':
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':'.join([mars_rover_demos_path])}
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urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path',
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'urdf', 'curiosity_mars_rover.xacro.urdf')
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doc = xacro.process_file(urdf_model_path)
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robot_description = {'robot_description': doc.toxml()}
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decalare_world_name_arg = DeclareLaunchArgument('world_name', default_value='mars_gale_crater_patch1.sdf',
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description='Name of the world file to launch in Gazebo')
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world_name = LaunchConfiguration('world_name')
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arm_node = Node(
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package="mars_rover",
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executable="move_arm",
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output='screen'
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)
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mast_node = Node(
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package="mars_rover",
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executable="move_mast",
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output='screen'
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)
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wheel_node = Node(
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package="mars_rover",
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executable="move_wheel",
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output='screen'
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)
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run_node = Node(
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package="mars_rover",
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executable="run_demo",
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output='screen'
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)
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start_world = ExecuteProcess(
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cmd=['gz sim', world_name, '-r'],
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output='screen',
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additional_env=env,
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shell=True
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)
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robot_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=[robot_description])
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spawn = Node(
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package='ros_gz_sim', executable='create',
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arguments=[
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'-name', 'curiosity_path',
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'-topic', robot_description,
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],
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output='screen'
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)
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## Control Components
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component_state_msg = '{name: "GazeboSimSystem", target_state: {id: 3, label: ""}}'
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## a hack to resolve current bug
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set_hardware_interface_active = ExecuteProcess(
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cmd=['ros2', 'service', 'call',
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'controller_manager/set_hardware_component_state',
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'controller_manager_msgs/srv/SetHardwareComponentState',
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component_state_msg]
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)
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load_joint_state_broadcaster = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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'joint_state_broadcaster'],
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output='screen'
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)
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load_arm_joint_traj_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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'arm_joint_trajectory_controller'],
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output='screen'
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)
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load_mast_joint_traj_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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'mast_joint_trajectory_controller'],
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output='screen'
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)
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load_wheel_joint_traj_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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'wheel_velocity_controller'],
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output='screen'
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)
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load_steer_joint_traj_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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'steer_position_controller'],
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output='screen'
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)
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load_suspension_joint_traj_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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'wheel_tree_position_controller'],
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output='screen'
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)
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return LaunchDescription([
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declare_world_name_arg,
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start_world,
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robot_state_publisher,
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spawn,
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arm_node,
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mast_node,
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wheel_node,
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run_node,
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RegisterEventHandler(
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OnProcessExit(
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target_action=spawn,
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on_exit=[set_hardware_interface_active],
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)
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),
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RegisterEventHandler(
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OnProcessExit(
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target_action=set_hardware_interface_active,
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on_exit=[load_joint_state_broadcaster],
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)
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),
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RegisterEventHandler(
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OnProcessExit(
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target_action=load_joint_state_broadcaster,
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on_exit=[load_arm_joint_traj_controller,
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load_mast_joint_traj_controller,
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load_wheel_joint_traj_controller,
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load_steer_joint_traj_controller,
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load_suspension_joint_traj_controller],
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)
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),
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])

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