def generate_launch_description():
model, plugin, media = GazeboRosPaths.get_paths()
if 'GAZEBO_MODEL_PATH' in environ:
model += ':' + environ['GAZEBO_MODEL_PATH']
if 'GAZEBO_PLUGIN_PATH' in environ:
plugin += ':' + environ['GAZEBO_PLUGIN_PATH']
if 'GAZEBO_RESOURCE_PATH' in environ:
media += ':' + environ['GAZEBO_RESOURCE_PATH']
model += path.abspath(path.join(path.dirname(__file__), '../models'))
env = {
'GAZEBO_MODEL_PATH': model,
'GAZEBO_PLUGIN_PATH': plugin,
'GAZEBO_RESOURCE_PATH': media
}
#environ['GAZEBO_MODEL_PATH'] = model
#model += ':' + environ['GAZEBO_MODEL_PATH']
env = {'GAZEBO_MODEL_PATH': model}
spawner = Node(
package='robot_spawner',
node_executable='spawner',
node_name='spawner',
output='screen' ## output option for debug
)
gazebo = ExecuteProcess(
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
#additional_env=env,
output='screen')
#gzserver = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# '/opt/ros/eloquent/share/gazebo_ros/launch/gzserver.launch.py'),
#)
return LaunchDescription([
gazebo,
spawner,
#gzserver
])
def generate_launch_description():
model, plugin, media = GazeboRosPaths.get_paths()
if 'GAZEBO_MODEL_PATH' in environ:
model += ':' + environ['GAZEBO_MODEL_PATH']
if 'GAZEBO_PLUGIN_PATH' in environ:
plugin += ':' + environ['GAZEBO_PLUGIN_PATH']
if 'GAZEBO_RESOURCE_PATH' in environ:
media += ':' + environ['GAZEBO_RESOURCE_PATH']
env = {
'GAZEBO_MODEL_PATH': model,
'GAZEBO_PLUGIN_PATH': plugin,
'GAZEBO_RESOURCE_PATH': media
}
return LaunchDescription([
DeclareLaunchArgument(
'version',
default_value='false',
description='Set "true" to output version information'),
DeclareLaunchArgument(
'verbose',
default_value='false',
description='Set "true" to increase messages written to terminal'),
DeclareLaunchArgument(
'help',
default_value='false',
description='Set "true" to produce gzclient help message'),
DeclareLaunchArgument(
'extra_gazebo_args',
default_value='',
description='Extra arguments to be passed to Gazebo'),
# Specific to gazebo_ros
DeclareLaunchArgument(
'gdb',
default_value='false',
description='Set "true" to run gzserver with gdb'),
DeclareLaunchArgument(
'valgrind',
default_value='false',
description='Set "true" to run gzserver with valgrind'),
# Execute
ExecuteProcess(
cmd=[[
'gzclient',
_boolean_command('version'),
' ',
_boolean_command('verbose'),
' ',
_boolean_command('help'),
' ',
LaunchConfiguration('extra_gazebo_args'),
]],
output='screen',
additional_env=env,
shell=True,
prefix=PythonExpression([
'"gdb -ex run --args" if "true" == "',
LaunchConfiguration('gdb'), '"else "valgrind" if "true" == "',
LaunchConfiguration('valgrind'), '"else ""'
]),
)
])
def generate_launch_description():
model, plugin, media = GazeboRosPaths.get_paths()
if 'GAZEBO_MODEL_PATH' in environ:
model += ':' + environ['GAZEBO_MODEL_PATH']
if 'GAZEBO_PLUGIN_PATH' in environ:
plugin += ':' + environ['GAZEBO_PLUGIN_PATH']
if 'GAZEBO_RESOURCE_PATH' in environ:
media += ':' + environ['GAZEBO_RESOURCE_PATH']
env = {
'GAZEBO_MODEL_PATH': model,
'GAZEBO_PLUGIN_PATH': plugin,
'GAZEBO_RESOURCE_PATH': media
}
return LaunchDescription([
DeclareLaunchArgument('world',
default_value='',
description='Specify world file name'),
DeclareLaunchArgument(
'version',
default_value='false',
description='Set "true" to output version information.'),
DeclareLaunchArgument(
'verbose',
default_value='false',
description='Set "true" to increase messages written to terminal.'
),
DeclareLaunchArgument(
'help',
default_value='false',
description='Set "true" to produce gzserver help message.'),
DeclareLaunchArgument(
'pause',
default_value='false',
description='Set "true" to start the server in a paused state.'),
DeclareLaunchArgument(
'physics',
default_value='',
description='Specify a physics engine (ode|bullet|dart|simbody).'),
DeclareLaunchArgument('play',
default_value='',
description='Play the specified log file.'),
DeclareLaunchArgument('record',
default_value='false',
description='Set "true" to record state data.'),
DeclareLaunchArgument(
'record_encoding',
default_value='',
description='Specify compression encoding format for log data '
'(zlib|bz2|txt).'),
DeclareLaunchArgument(
'record_path',
default_value='',
description='Absolute path in which to store state data.'),
DeclareLaunchArgument(
'record_period',
default_value='',
description='Specify recording period (seconds).'),
DeclareLaunchArgument('record_filter',
default_value='',
description='Specify recording filter '
'(supports wildcard and regular expression).'),
DeclareLaunchArgument(
'seed',
default_value='',
description='Start with a given a random number seed.'),
DeclareLaunchArgument(
'iters',
default_value='',
description='Specify number of iterations to simulate.'),
DeclareLaunchArgument(
'minimal_comms',
default_value='false',
description='Set "true" to reduce TCP/IP traffic output.'),
DeclareLaunchArgument(
'profile',
default_value='',
description='Specify physics preset profile name from the options '
'in the world file.'),
DeclareLaunchArgument(
'extra_gazebo_args',
default_value='',
description='Extra arguments to be passed to Gazebo'),
# Specific to gazebo_ros
DeclareLaunchArgument(
'gdb',
default_value='false',
description='Set "true" to run gzserver with gdb'),
DeclareLaunchArgument(
'valgrind',
default_value='false',
description='Set "true" to run gzserver with valgrind'),
DeclareLaunchArgument(
'init',
default_value='true',
description='Set "false" not to load "libgazebo_ros_init.so"'),
DeclareLaunchArgument(
'factory',
default_value='true',
description='Set "false" not to load "libgazebo_ros_factory.so"'),
# Wait for (https://github.com/ros-simulation/gazebo_ros_pkgs/pull/941)
# DeclareLaunchArgument('force_system', default_value='true',
# description='Set "false" not to load \
# "libgazebo_ros_force_system.so"'),
ExecuteProcess(
cmd=[
'gzserver',
# Pass through arguments to gzserver
LaunchConfiguration('world'),
' ',
_boolean_command('version'),
' ',
_boolean_command('verbose'),
' ',
_boolean_command('help'),
' ',
_boolean_command('pause'),
' ',
_arg_command('physics'),
' ',
LaunchConfiguration('physics'),
' ',
_arg_command('play'),
' ',
LaunchConfiguration('play'),
' ',
_boolean_command('record'),
' ',
_arg_command('record_encoding'),
' ',
LaunchConfiguration('record_encoding'),
' ',
_arg_command('record_path'),
' ',
LaunchConfiguration('record_path'),
' ',
_arg_command('record_period'),
' ',
LaunchConfiguration('record_period'),
' ',
_arg_command('record_filter'),
' ',
LaunchConfiguration('record_filter'),
' ',
_arg_command('seed'),
' ',
LaunchConfiguration('seed'),
' ',
_arg_command('iters'),
' ',
LaunchConfiguration('iters'),
' ',
_boolean_command('minimal_comms'),
_plugin_command('init'),
' ',
_plugin_command('factory'),
' ',
# Wait for (https://github.com/ros-simulation/gazebo_ros_pkgs/pull/941)
# _plugin_command('force_system'), ' ',
_arg_command('profile'),
' ',
LaunchConfiguration('profile'),
LaunchConfiguration('extra_gazebo_args'),
],
output='screen',
additional_env=env,
shell=True,
prefix=PythonExpression([
'"gdb -ex run --args" if "true" == "',
LaunchConfiguration('gdb'), '" else "valgrind" if "true" == "',
LaunchConfiguration('valgrind'), '" else ""'
]),
)
])
def generate_launch_description():
gazebo_package_prefix = get_package_share_directory("gazebo_ros")
package_prefix = get_package_share_directory("halodi-controller-gazebo")
model, plugin, media = GazeboRosPaths.get_paths()
return LaunchDescription([
DeclareLaunchArgument(
"world",
default_value=os.path.join(package_prefix, "worlds",
"eve_flat_ground.world"),
description="Set world to launch",
),
DeclareLaunchArgument(
"verbose",
default_value="true",
description="Enable verbosity",
),
# Note that the Halodi Controller publishes /clock and therefore conflicts with gazebo_ros_init
# Also, resetting the world state is not currently supported by the controller.
# Therefore, we disable the gazebo_ros_init plugin
DeclareLaunchArgument(
"init",
default_value="false",
description='Set "false" not to load "libgazebo_ros_init.so"',
),
DeclareLaunchArgument(
"factory",
default_value="true",
description='Set "false" not to load "libgazebo_ros_factory.so"',
),
DeclareLaunchArgument(
"trajectory-api",
default_value="true",
description=
'Set "false" to disable trajectory api and use realtime api',
),
DeclareLaunchArgument(
"headless",
default_value="false",
description='Set "true" to disable the visual UI',
),
SetEnvironmentVariable("HALODI_TRAJECTORY_API",
LaunchConfiguration("trajectory-api")),
DeclareLaunchArgument(
"variable-server",
default_value="false",
description=
'Set "true" to enable the variable server and use SCSVisualizer to tune variables',
),
SetEnvironmentVariable("SCS_VARIABLE_SERVER",
LaunchConfiguration("variable-server")),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(gazebo_package_prefix, "launch",
"gzserver.launch.py"))),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(gazebo_package_prefix, "launch",
"gzclient.launch.py")),
condition=UnlessCondition(LaunchConfiguration("headless")),
),
])
def generate_launch_description():
cmd = [[
'gzclient',
_boolean_command('version'),
' ',
_boolean_command('verbose'),
' ',
_boolean_command('help'),
' ',
LaunchConfiguration('extra_gazebo_args'),
]]
model, plugin, media = GazeboRosPaths.get_paths()
if 'GAZEBO_MODEL_PATH' in environ:
model += pathsep + environ['GAZEBO_MODEL_PATH']
if 'GAZEBO_PLUGIN_PATH' in environ:
plugin += pathsep + environ['GAZEBO_PLUGIN_PATH']
if 'GAZEBO_RESOURCE_PATH' in environ:
media += pathsep + environ['GAZEBO_RESOURCE_PATH']
env = {
'GAZEBO_MODEL_PATH': model,
'GAZEBO_PLUGIN_PATH': plugin,
'GAZEBO_RESOURCE_PATH': media,
}
prefix = PythonExpression([
'"gdb -ex run --args" if "true" == "',
LaunchConfiguration('gdb'),
'"else "valgrind" if "true" == "',
LaunchConfiguration('valgrind'),
'"else ""',
])
return LaunchDescription([
DeclareLaunchArgument(
'version',
default_value='false',
description='Set "true" to output version information'),
DeclareLaunchArgument(
'verbose',
default_value='false',
description='Set "true" to increase messages written to terminal'),
DeclareLaunchArgument(
'help',
default_value='false',
description='Set "true" to produce gzclient help message'),
DeclareLaunchArgument(
'extra_gazebo_args',
default_value='',
description='Extra arguments to be passed to Gazebo'),
# Specific to gazebo_ros
DeclareLaunchArgument(
'gdb',
default_value='false',
description='Set "true" to run gzserver with gdb'),
DeclareLaunchArgument(
'valgrind',
default_value='false',
description='Set "true" to run gzserver with valgrind'),
DeclareLaunchArgument(
'gui_required',
default_value='false',
description=
'Set "true" to shut down launch script when GUI is terminated'),
# Execute node with on_exit=Shutdown if gui_required is specified.
# See ros-simulation/gazebo_ros_pkgs#1086. Simplification of logic
# would be possible pending ros2/launch#290.
ExecuteProcess(
cmd=cmd,
output='screen',
additional_env=env,
shell=True,
prefix=prefix,
on_exit=Shutdown(),
condition=IfCondition(LaunchConfiguration('gui_required')),
),
# Execute node with default on_exit if the node is not required
ExecuteProcess(
cmd=cmd,
output='screen',
additional_env=env,
shell=True,
prefix=prefix,
condition=UnlessCondition(LaunchConfiguration('gui_required')),
),
])