def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='False') world_file_name = 'empty_' + TURTLEBOT3_MODEL + '.model' world = os.path.join(get_package_share_directory('subscriber'), 'worlds', world_file_name) launch_file_dir = os.path.join( get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), launch_arguments={'world': world}.items(), ), # IncludeLaunchDescription( # PythonLaunchDescriptionSource( # os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') # ), # ), ExecuteProcess(cmd=[ 'ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time ], output='screen'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), ])
def generate_launch_description(): turtlebot3_gazebo = get_package_share_directory('turtlebot3_gazebo') my_robot_slam = get_package_share_directory('my_robot_slam') return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(turtlebot3_gazebo, 'launch/turtlebot3_house.launch.py') ), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(my_robot_slam, 'localization.launch.py') ), ), Node( package='my_vacuum_cleaner', executable='coverage', name='coverage', output='screen'), Node( package='my_vacuum_cleaner', executable='set_initial_pose', name='set_initial_pose', output='screen'), ])
def generate_launch_description(): # Path nb2_launch_dir = os.path.join( get_package_share_directory('neuronbot2_bringup'), 'launch') autodock_launch_dir = os.path.join( get_package_share_directory('apriltag_docking'), 'launch') rviz_path = os.path.join( get_package_share_directory('napp_apriltag_docking'), 'rviz', 'default_tag_bot.rviz') open_rviz = LaunchConfiguration('open_rviz', default='True') neuron_app_bringup = GroupAction([ DeclareLaunchArgument('open_rviz', default_value='true', description='Launch Rviz?'), IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(nb2_launch_dir, 'bringup_launch.py')), launch_arguments={'use_camera': 'top'}.items()), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(autodock_launch_dir, 'autodock_neuronbot.launch.py'))), Node(package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_path], condition=IfCondition(LaunchConfiguration("open_rviz"))), ]) ld = LaunchDescription() ld.add_action(neuron_app_bringup) return ld
def generate_launch_description(): # Path nb2_launch_dir = os.path.join(get_package_share_directory('neuronbot2_bringup'), 'launch') nb2nav_launch_dir = os.path.join(get_package_share_directory('neuronbot2_nav'), 'launch') your_map_path = str(Path.home())+'/neuron_app_slam/yourmap.yaml' if not os.path.isfile(your_map_path): raise RuntimeError('\x1b[0;37;41m'+'Please run Neuron APP SLAM to create your own map first.'+'\x1b[0m') # Parameters open_rviz = LaunchConfiguration('open_rviz', default='True') map_path = LaunchConfiguration('map', default=your_map_path) neuron_app_bringup = GroupAction([ IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(nb2_launch_dir, 'bringup_launch.py'))), IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(nb2nav_launch_dir, 'bringup_launch.py')), launch_arguments={'open_rviz': open_rviz, 'map': map_path}.items()), ]) ld = LaunchDescription() ld.add_action(neuron_app_bringup) return ld
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_face_d415.launch.py']), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_scene_d435.launch.py']), ), Node( package='tf2_ros', node_executable='static_transform_publisher', node_name='static_transform_publisher_face_d415_to_scene_d435', node_namespace='', output='screen', parameters=[], # Parallel arguments=['-0.05938306', '-0.0375', '0.0', '3.14159265', '0.0', '0.0', 'face_d415', 'scene_d435'], # # # 15 deg offset # arguments=['-0.0212582', '-0.06153793', '0.0', # '-3.40339204', '0.0', '0.0', # 'face_d415', 'scene_d435'], remappings=[], ), ])
def generate_launch_description(): return LaunchDescription([ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/hardware_2wd.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/sensors.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/ps4_teleop.launch.py'])), Node( package="tf2_ros", executable="static_transform_publisher", output='screen', arguments=[ '0', '0', '0.25', '0', '0', '0', 'base_footprint', 'base_link' ], ), Node( package="tf2_ros", executable="static_transform_publisher", output='screen', arguments=[ '0', '0', '0.05', str(pi), '0', '0', 'base_link', 'laser' ], ), ])
def generate_launch_description(): user = LaunchConfiguration('user', default=os.path.join(get_package_share_directory( 'ecard'), 'users', 'user0.yaml')) return LaunchDescription([ DeclareLaunchArgument( 'user', default_value=user, description='Path to config for RGB-D Gaze user'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [os.path.join(get_package_share_directory('ecard'), 'launch', 'rs', 'rs.launch.py')]), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [os.path.join(get_package_share_directory('ecard'), 'launch', 'rgbd_gaze', 'rgbd_gaze.launch.py')]), launch_arguments=[('user', user)], ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [os.path.join(get_package_share_directory('ecard'), 'launch', 'gpf', 'gpf.launch.py')]), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [os.path.join(get_package_share_directory('ecard'), 'launch', 'gaze_correlation', 'gaze_correlation.launch.py')]), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [os.path.join(get_package_share_directory('ecard'), 'launch', 'manipulation.launch.py')]), ), # IncludeLaunchDescription( # PythonLaunchDescriptionSource( # [os.path.join(get_package_share_directory('ecard'), 'launch', # 'rviz2.launch.py')]), # ), Node( package='tf2_ros', node_executable='static_transform_publisher', node_name='static_transform_publisher_world_face_d415', node_namespace='', output='screen', parameters=[], arguments=['0.1', '0.4', '0.25', '0.0', '3.14159265', '3.14159265', 'world', 'face_d415'], remappings=[], ), ])
def generate_launch_description(): main_package_name = 'lobot_control_main' # Get gazebo_ros package path gazebo_ros_share_path = get_package_share_directory('gazebo_ros') lobot_desc_share_path = get_package_share_directory('lobot_description') control_main_share_path = get_package_share_directory(main_package_name) lobot_urdf_path = os.path.join(lobot_desc_share_path, 'robots/biped.urdf') # Launch gzserver params_server = IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(control_main_share_path, 'launch', 'params_server.launch.py'))) gzserver = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(gazebo_ros_share_path, 'launch', 'gzserver.launch.py'))) # Launch main executable main_exec = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(control_main_share_path, 'launch', 'launch_main_exec.launch.py'))) # GAZEBO_MODEL_PATH has to be correctly set for Gazebo to be able to find the model spawn_entity = Node(package='gazebo_ros', node_executable='spawn_entity.py', arguments=['-entity', 'lobot', '-file', lobot_urdf_path, '-z', "0.2"], output='screen') # Launch gzclient gzclient = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(gazebo_ros_share_path, 'launch', 'gzclient.launch.py')), ) ld = LaunchDescription([params_server, gzserver,spawn_entity, gzclient, main_exec]) return ld
def generate_launch_description(): # Path nb2_launch_dir = os.path.join( get_package_share_directory('neuronbot2_bringup'), 'launch') nb2nav_launch_dir = os.path.join( get_package_share_directory('neuronbot2_slam'), 'launch') # Parameters open_rviz = LaunchConfiguration('open_rviz', default='True') neuron_app_bringup = GroupAction([ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(nb2_launch_dir, 'bringup_launch.py'))), IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(nb2nav_launch_dir, 'gmapping_launch.py')), launch_arguments={'open_rviz': open_rviz}.items()), ]) # Run mouse teleop mouse_teleop = Node(package='mouse_teleop', executable='mouse_teleop', remappings=[('mouse_vel', 'cmd_vel')], output='screen') ld = LaunchDescription() ld.add_action(neuron_app_bringup) ld.add_action(mouse_teleop) return ld
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='false') rviz_config_dir = os.path.join( get_package_share_directory('testbot_description'), 'rviz', 'testbot.rviz') return LaunchDescription([ DeclareLaunchArgument( 'use_sim_time', default_value=use_sim_time, description='Use simulation (Gazebo) clock if true'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/testjoint_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/testrobot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), Node(package='rviz2', node_executable='rviz2', node_name='rviz2', arguments=['-d', rviz_config_dir], output='screen'), ])
def generate_launch_description(): package_dir = get_package_share_directory('webots_ros2_epuck') use_nav = LaunchConfiguration('nav', default=False) use_rviz = LaunchConfiguration('rviz', default=False) use_mapper = LaunchConfiguration('mapper', default=False) synchronization = LaunchConfiguration('synchronization', default=False) world = LaunchConfiguration('world', default='epuck_world.wbt') # Webots webots_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(package_dir, 'robot_launch.py')), launch_arguments={ 'synchronization': synchronization, 'use_sim_time': 'true' }.items()) # Base configuration tools_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(package_dir, 'robot_tools_launch.py')), launch_arguments={ 'nav': use_nav, 'rviz': use_rviz, 'mapper': use_mapper, 'use_sim_time': 'true', 'world': world }.items()) return LaunchDescription([webots_launch, tools_launch])
def generate_launch_description(): params1 = duplicate_params(rs_launch.configurable_parameters, '1') params2 = duplicate_params(rs_launch.configurable_parameters, '2') return LaunchDescription( rs_launch.declare_configurable_parameters(local_parameters) + rs_launch.declare_configurable_parameters(params1) + rs_launch.declare_configurable_parameters(params2) + [ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_launch.py']), launch_arguments=set_configurable_parameters(params1).items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [ThisLaunchFileDir(), '/rs_launch.py']), launch_arguments=set_configurable_parameters(params2).items(), ), # dummy static transformation from camera1 to camera2 launch_ros.actions.Node(package="tf2_ros", executable="static_transform_publisher", arguments=[ "0", "0", "0", "0", "0", "0", "camera1_link", "camera2_link" ]), ])
def generate_launch_description(): ld = LaunchDescription() gazebo = IncludeLaunchDescription(PythonLaunchDescriptionSource( get_package_share_directory('triton_gazebo') + '/launch/gazebo_launch.py'), launch_arguments={ 'world': 'uc_gendata.world', 'headless': 'true' }.items()) ld.add_action(gazebo) underwater_camera = IncludeLaunchDescription( PythonLaunchDescriptionSource( get_package_share_directory('triton_gazebo') + '/launch/underwater_camera_launch.py')) ld.add_action(underwater_camera) bounding_box_image_saver = Node(package="triton_gazebo", executable='bounding_box_image_saver.py', name='bounding_box_image_saver') ld.add_action(bounding_box_image_saver) return ld
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='true') world_file_name = 'atp_office/atpbot.model' world = os.path.join(get_package_share_directory('atpbot_simulation'), 'worlds', world_file_name) launch_file_dir = os.path.join( get_package_share_directory('atpbot_simulation'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') print(launch_file_dir) return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), launch_arguments={'world': world}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [launch_file_dir, '/navigation2.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), ])
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='True') world_file_name = 'warehouse/warehouse.model' # world_file_name = 'empty_world/empty_world.model' world = os.path.join(get_package_share_directory('robot_simulation'), 'worlds', world_file_name) launch_file_dir = os.path.join( get_package_share_directory('robot_description'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), launch_arguments={'world': world}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')), ), ExecuteProcess(cmd=[ 'ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time ], output='screen'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [launch_file_dir, '/robot_description.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), ])
def generate_launch_description(): # Get gazebo_ros package path gazebo_ros_share_path = get_package_share_directory('gazebo_ros') lobot_desc_share_path = get_package_share_directory('lobot_description') lobot_urdf_path = os.path.join(lobot_desc_share_path, 'robots/biped.urdf') # Launch gzserver gzserver = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(gazebo_ros_share_path, 'launch', 'gzserver.launch.py')), launch_arguments={'extra_gazebo_args': '__log_level:=debug'}.items()) # GAZEBO_MODEL_PATH has to be correctly set for Gazebo to be able to find the model spawn_entity = Node( package='gazebo_ros', node_executable='spawn_entity.py', arguments=['-entity', 'lobot', '-file', lobot_urdf_path, '-z', "0.22"], output='screen') # Launch gzclient gzclient = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(gazebo_ros_share_path, 'launch', 'gzclient.launch.py')), ) return LaunchDescription([ gzserver, spawn_entity, gzclient, ])
def generate_launch_description(): executable = "executable" if ROS_DISTRO == ROS_DISTRO_FOXY else "node_executable" pkg_share = get_package_share_directory("tennis_court") gazebo_ros_share = get_package_share_directory("gazebo_ros") # Gazebo Server gzserver_launch_file = os.path.join(gazebo_ros_share, "launch", "gzserver.launch.py") world_file = os.path.join(pkg_share, "worlds", "court.world") gzserver_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource(gzserver_launch_file), launch_arguments={ "world": world_file, "verbose": "false", "pause": LaunchConfiguration("paused") }.items()) # Gazebo Client gzclient_launch_file = os.path.join(gazebo_ros_share, "launch", "gzclient.launch.py") gzclient_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource(gzclient_launch_file), condition=IfCondition(LaunchConfiguration("gui"))) static_tf_node = Node(package="tf2_ros", arguments=[ "0", "0", "8", "3.14159", "1.57079", "3.14159", "map", "zenith_camera_link" ], **{executable: "static_transform_publisher"}) # Ball Manager ball_manager_node = Node(package="tennis_court", condition=IfCondition( LaunchConfiguration("manager")), parameters=[{ "use_sim_time": True }], output="screen", emulate_tty=True, **{executable: "ball_manager.py"}) # Rviz rviz_config_file = os.path.join(pkg_share, "config", "config.rviz") rviz_node = Node(package="rviz2", arguments=["-d", rviz_config_file], condition=IfCondition(LaunchConfiguration("rviz")), parameters=[{ "use_sim_time": True }], **{executable: "rviz2"}) return LaunchDescription([ DeclareLaunchArgument(name="gui", default_value="true"), DeclareLaunchArgument(name="paused", default_value="false"), DeclareLaunchArgument(name="rviz", default_value="false"), DeclareLaunchArgument(name="manager", default_value="true"), gzserver_launch, gzclient_launch, static_tf_node, ball_manager_node, rviz_node ])
def generate_launch_description(): this_prefix = get_package_share_directory('random_nav') bricks_world = os.path.join(this_prefix, 'worlds', 'bricks.world') bricks_map = os.path.join(this_prefix, 'maps', 'bricks_map.yaml') # python launch file for turtle bot 3 doesnt exist tb_prefix = get_package_share_directory('turtlebot3_gazebo') worldLaunch = IncludeLaunchDescription( PythonLaunchDescriptionSource( [tb_prefix, '/launch/turtlebot_world_launch.py']), [ ('world_file', bricks_world), ]) tbviz_prefix = get_package_share_directory('turtlebot3_rviz_launchers') viewNavLaunch = IncludeLaunchDescription( PythonLaunchDescriptionSource( [tbviz_prefix, '/launch/view_navigation_launch.py'])) moveBaseLaunch = IncludeLaunchDescription( PythonLaunchDescriptionSource( [this_prefix, '/launch/gazebo_launch.py']), [ ('map_file', bricks_map), ]) return LaunchDescription([worldLaunch, viewNavLaunch, moveBaseLaunch])
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='true') world_file_name = 'turtlebot3_worlds/' + TURTLEBOT3_MODEL + '.model' world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name) launch_file_dir = os.path.join( get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), launch_arguments={'world': world}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( [launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), ])
def generate_launch_description(): """ Launch a minimal joystick + LGSVL demo. Under the default configuration, the joystick translator outputs and the LGSVL interface expects RawControlCommand. Controlling the vehicle can happen via the gamepad triggers and left joystick. """ # --------------------------------- Params ------------------------------- # Default joystick translator params joy_translator_param = DeclareLaunchArgument( 'joy_translator_param', default_value=[ get_share_file('joystick_vehicle_interface', 'param/logitech_f310.default.param.yaml') ], description='Path to config file for joystick translator') # Default lgsvl_interface params lgsvl_interface_param = DeclareLaunchArgument( 'lgsvl_interface_param', default_value=[ get_share_file('lgsvl_interface', 'param/lgsvl.param.yaml') ], description='Path to config file for lgsvl interface') # -------------------------------- Nodes----------------------------------- # Include Joystick launch joystick_launch_file_path = get_share_file('joystick_vehicle_interface', 'launch/joystick_vehicle_interface.launch.py') joystick = IncludeLaunchDescription( PythonLaunchDescriptionSource(joystick_launch_file_path), launch_arguments=[ ( "joy_translator_param", LaunchConfiguration("joy_translator_param") ) ] ) # Include LGSVL interface launch lgsvl_launch_file_path = get_share_file('lgsvl_interface', 'launch/lgsvl.launch.py') lgsvl = IncludeLaunchDescription( PythonLaunchDescriptionSource(lgsvl_launch_file_path), launch_arguments=[ ( "lgsvl_interface_param", LaunchConfiguration("lgsvl_interface_param") ) ] ) return LaunchDescription([ joy_translator_param, lgsvl_interface_param, joystick, lgsvl ])
def generate_launch_description(): # Get gazebo_ros package path gazebo_ros_share_path = get_package_share_directory('gazebo_ros') lobot_desc_share_path = get_package_share_directory('lobot_description') zero_g_world_path = os.path.join(lobot_desc_share_path, 'worlds/zero_g_world.sdf') # Launch gzserver gzserver = IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(gazebo_ros_share_path, 'launch', 'gzserver.launch.py')), launch_arguments={ 'extra_gazebo_args': '__log_level:=info', 'world': zero_g_world_path, 'pause': 'true' }.items()) return LaunchDescription([ DeclareLaunchArgument( 'gui', default_value='True', description= 'Bool to specify if gazebo should be launched with GUI or not'), gzserver, IncludeLaunchDescription(PythonLaunchDescriptionSource( os.path.join(gazebo_ros_share_path, 'launch', 'gzclient.launch.py')), condition=IfCondition( LaunchConfiguration('gui'))), ])
def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource([ get_package_share_directory('velodyne_driver'), '/launch/velodyne_driver_node-VLP16-launch.py' ])), IncludeLaunchDescription( PythonLaunchDescriptionSource([ get_package_share_directory('velodyne_pointcloud'), '/launch/velodyne_convert_node-VLP16-launch.py' ])), Node(package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', parameters=[{ 'robot_description': Command([ 'xacro', ' ', get_package_share_directory('AkulaPackage') + '/model/akula.urdf' ]) }]), Node(package='BaslerROS2', executable='BaslerNode', name='Basler'), Node(package='akula_package', executable='AkulaEncoderNode', name='AkulaEncoders'), #Node( # package='AkulaPackage', # executable='AkulaImuNode', # name='AkulaIMU' #) ])
def generate_launch_description(): return LaunchDescription([ SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), #Launch from Same Package #Launch Rviz IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rviz.launch.py'])), #Launch SLAM #TODO #Launch Controller IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/controller.launch.py'])), #Launch Localization #IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/localization.launch.py'])), #Launch Navigation #IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/navigation.launch.py'])), #Launch SLAM #IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/slam.launch.py'])), #Pull from different packages #IncludeLaunchDescription( # PythonLaunchDescriptionSource(os.path.join(launch_dir, # 'bringup_launch.py')), # launch_arguments={ # 'map': "/home/ros/willmap.yaml"}.items()), #IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(launch_dir, 'localization_launch.py')), ])
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='True') world_path = os.path.join(get_package_share_directory('tello_gazebo'), 'worlds', 'no_roof_small_warehouse.world') launch_file_dir = os.path.join(get_package_share_directory('tello_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') urdf_path = os.path.join(get_package_share_directory('tello_description'), 'urdf', 'tello.urdf') rviz_path = os.path.join(get_package_share_directory('tello_gazebo'), 'rviz', 'main.rviz') return LaunchDescription([ # Gazebo envs SetEnvironmentVariable(name='GAZEBO_RESOURCE_PATH', value=['/usr/share/gazebo-11']), # Gazebo Server IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), launch_arguments={'world': world_path}.items(), ), # Gazebo Client IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')), ), # Spawn urdf Node(package='gazebo_ros', executable='spawn_entity.py', arguments=['-entity', 'tello', '-file', urdf_path, '-z', '1']), # Robot State Publisher IncludeLaunchDescription( PythonLaunchDescriptionSource( [launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), # Tello Driver Node(package='tello_driver', executable='tello_joy_main', namespace="drone"), # Joystick Node(package='joy', executable='joy_node', namespace="drone"), # RViz2 Node(package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_path]), ])
def generate_launch_description(): user = LaunchConfiguration('user', default=os.path.join( get_package_share_directory('ecard'), 'users', 'user0.yaml')) config_rviz2 = os.path.join(get_package_share_directory('ecard'), 'config', 'rgbd_gaze', 'calibration', 'rviz2.rviz') return LaunchDescription([ DeclareLaunchArgument( 'user', default_value=user, description='Path to config for RGB-D Gaze user'), IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join(get_package_share_directory('ecard'), 'launch', 'rs', 'rs.launch.py') ]), ), IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join(get_package_share_directory('ecard'), 'launch', 'rgbd_gaze', 'accuracy.launch.py') ]), launch_arguments=[('user', user)], ), IncludeLaunchDescription(PythonLaunchDescriptionSource([ os.path.join(get_package_share_directory('ecard'), 'launch', 'rviz2.launch.py') ]), launch_arguments=[('config_rviz2', config_rviz2)]), ])
def generate_launch_description(): rviz_config_dir = os.path.join(get_package_share_directory('navi_sim'), 'config', 'navi_sim.rviz') description_dir = os.path.join( get_package_share_directory('wamv_description'), 'launch') simulator = ComposableNodeContainer( name='navi_sim_bringup_container', namespace='sensing', package='rclcpp_components', executable='component_container', composable_node_descriptions=[ getNaviSimComponent(), getLidarSimComponent('front_lidar'), getLidarSimComponent('rear_lidar'), getLidarSimComponent('right_lidar'), getLidarSimComponent('left_lidar'), getCameraSimComponent('front_left_camera'), getCameraSimComponent('front_right_camera'), getCameraSimComponent('rear_left_camera'), getCameraSimComponent('rear_right_camera'), getCameraSimComponent('left_camera'), getCameraSimComponent('right_camera') ], output='screen') hermite_path_planner_package_path = get_package_share_directory( 'hermite_path_planner_bringup') hermite_path_planner_launch_dir = os.path.join( hermite_path_planner_package_path, 'launch') perception_bringup_package_path = get_package_share_directory( 'perception_bringup') perception_bringup_launch_dir = os.path.join( perception_bringup_package_path, 'launch') return LaunchDescription([ simulator, IncludeLaunchDescription( PythonLaunchDescriptionSource( [description_dir, '/wamv_description.launch.py']), ), Node(package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_config_dir], output='screen'), IncludeLaunchDescription( PythonLaunchDescriptionSource( [hermite_path_planner_launch_dir, '/bringup.launch.py'])), IncludeLaunchDescription( PythonLaunchDescriptionSource([ perception_bringup_launch_dir, '/perception_bringup.launch.py' ])), Node(package='robotx_bt_planner', executable='robotx_bt_planner_node', name='robotx_bt_planner_node', parameters=[{ 'config_package': 'robotx_bt_planner', 'config_file': 'config/qualifytask.yaml', 'update_rate': 20.0 }]) ])
def generate_launch_description(): turtlebot3_cartographer_prefix = get_package_share_directory( 'turtlebot3_cartographer') turtlebot3_cartographer_launch_dir = os.path.join( turtlebot3_cartographer_prefix, 'launch') cartographer_config_dir_path = os.path.join(turtlebot3_cartographer_prefix, 'config') param_file_name = TURTLEBOT3_MODEL + '.yaml' nav2_launch_file_dir_path = os.path.join( get_package_share_directory('nav2_bringup'), 'launch') navigation_param_file_path = os.path.join( get_package_share_directory('turtlebot3_navigation2'), 'param', param_file_name) wall_follower_pack_share_directory = get_package_share_directory( "wall_follower") wall_follower_launch_dir = os.path.join(wall_follower_pack_share_directory, 'launch') use_sim_time = LaunchConfiguration('use_sim_time', default='true') cartographer_occupancy_grid_dir = LaunchConfiguration( 'cartographer_occupancy_grid', default=turtlebot3_cartographer_launch_dir) cartographer_config_dir = LaunchConfiguration( 'cartographer_config_dir', default=cartographer_config_dir_path) configuration_basename = LaunchConfiguration( 'configuration_basename', default='turtlebot3_lds_2d.lua') resolution = LaunchConfiguration('resolution', default='0.05') publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0') nav2_launch_file_dir = LaunchConfiguration( 'navigation_launch_dir', default=nav2_launch_file_dir_path) navigation_param_dir = LaunchConfiguration( 'params', default=navigation_param_file_path) return LaunchDescription([ IncludeLaunchDescription(PythonLaunchDescriptionSource( [wall_follower_launch_dir, '/start_navigation.launch.py']), launch_arguments={ 'use_sim_time': use_sim_time, 'navigation_launch_dir': nav2_launch_file_dir, 'params': navigation_param_dir }.items()), IncludeLaunchDescription( PythonLaunchDescriptionSource( [wall_follower_launch_dir, '/start_cartographer.launch.py']), launch_arguments={ 'use_sim_time': use_sim_time, 'resolution': resolution, 'publish_period_sec': publish_period_sec, 'cartographer_occupancy_grid': cartographer_occupancy_grid_dir, 'cartographer_config_dir': cartographer_config_dir, 'configuration_basename': configuration_basename }.items(), ), Node(package='wall_follower', executable='nav2_wall_follower', name='nav2_wall_follower') ])
def generate_launch_description(): return launch.LaunchDescription( [ IncludeLaunchDescription( PythonLaunchDescriptionSource( [get_package_share_directory(robot), "/launch/interfaces.py"] ), launch_arguments={ "namespace": robot, "params_file": os.path.join( get_package_share_directory(robot), "param", f"{robot}.yml" ), }.items(), ) for robot in robots ] + [ IncludeLaunchDescription( PythonLaunchDescriptionSource( [ get_package_share_directory("assurancetourix"), "/launch/launch.py", ] ), launch_arguments={ "namespace": "assurancetourix", "params_file": os.path.join( get_package_share_directory("assurancetourix"), "param", "assurancetourix.yml", ), }.items(), ) ] + [ GroupAction( [ Node( package="strategix", executable="strategix", output="screen", ), WebotsLauncher( mode="realtime", world="tools/simulation/worlds/cdr2022.wbt", ), ] ) ] + [ RegisterEventHandler( event_handler=OnProcessExit( on_exit=[ EmitEvent(event=Shutdown()), ] ) ) ] )
def generate_launch_description(): # ROS Packages pkg_mammoth_gazebo = get_package_share_directory('mammoth_gazebo') pkg_slam_toolbox = get_package_share_directory('slam_toolbox') # Arguments use_sim_time = LaunchConfiguration('use_sim_time', default='true') slam_params_file_path = os.path.join(pkg_mammoth_gazebo, 'config/slam', 'mapper_params_online_async.yaml') slam_params_file = LaunchConfiguration('slam_params_file', default=slam_params_file_path) nav2_params_file_path = os.path.join(pkg_mammoth_gazebo, 'config/navigation', 'nav2_params.yaml') nav2_params_file = LaunchConfiguration('nav2_params_file', default=nav2_params_file_path) # Nodes slam_toolbox = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_slam_toolbox, 'launch', 'online_async_launch.py')), launch_arguments={ 'namespace': '', 'use_sim_time': use_sim_time, 'params_file': slam_params_file }.items(), ) nav2_stack = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_mammoth_gazebo, 'launch/include/navigation/nav2', 'nav.launch.py')), launch_arguments={ 'namespace': '', 'use_sim_time': use_sim_time, 'params_file': nav2_params_file, 'autostart': 'true' }.items(), ) return LaunchDescription([ # Launch Arguments DeclareLaunchArgument( 'slam_params_file', default_value=slam_params_file_path, description='The file path of the params file for slam ToolBox'), DeclareLaunchArgument( 'nav2_params_file', default_value=nav2_params_file_path, description='The file path of the params file for Navigation2'), DeclareLaunchArgument('use_sim_time', default_value='true', description='Use simulation clock if true'), slam_toolbox, nav2_stack, ])
def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='true') tb_launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') nav2_launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_navigation2'), 'launch') default_world_path = os.path.join(get_package_share_directory('random_nav'), 'worlds', 'room.world') default_map_path = os.path.join(get_package_share_directory('random_nav'), 'maps', 'room.yaml') launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') pkg_gazebo_ros = get_package_share_directory('gazebo_ros') return LaunchDescription([ DeclareLaunchArgument('map', default_value=default_map_path), # START SIMULATOR #ExecuteProcess( # cmd=['gazebo', '--verbose', LaunchConfiguration('world'), '-s', 'libgazebo_ros_init.so'], # output='screen'), # #ExecuteProcess( # cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time], # output='screen'), # #Node( # package="jmu_turtlebot3_bringup", # executable="tb_fixer", # name="tb_fixer", # output="screen", #), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') ), launch_arguments={'world': default_world_path}.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') ), ), IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), ), # START NAV SYSTEM IncludeLaunchDescription( PythonLaunchDescriptionSource([nav2_launch_file_dir, '/navigation2.launch.py']), launch_arguments=[ ('map', LaunchConfiguration('map')), ('use_sim_time', use_sim_time) ], ), ])