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https://github.com/bjoernellens1/cps_rmp220_support.git
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99 lines
3.3 KiB
Python
Executable File
99 lines
3.3 KiB
Python
Executable File
import os
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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 IncludeLaunchDescription
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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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def generate_launch_description():
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# Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
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# !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!
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package_name='cps_rmp220_support' #<--- CHANGE ME
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rsp = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory(package_name),'launch','rsp.launch.py'
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)]), launch_arguments={'use_sim_time': 'true', 'use_ros2_control': 'true'}.items()
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)
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joystick = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory(package_name),'launch','joystick.launch.py'
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)]), launch_arguments={'use_sim_time': 'true'}.items()
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)
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twist_mux_params = os.path.join(get_package_share_directory(package_name),'config','twist_mux.yaml')
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twist_mux = Node(
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package="twist_mux",
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executable="twist_mux",
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parameters=[twist_mux_params, {'use_sim_time': True}],
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remappings=[('/cmd_vel_out','/diff_cont/cmd_vel_unstamped')]
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)
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gazebo_params_file = os.path.join(get_package_share_directory(package_name),'config','gazebo_params.yaml')
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# Include the Gazebo launch file, provided by the gazebo_ros package
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
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launch_arguments={'extra_gazebo_args': '--ros-args --params-file ' + gazebo_params_file}.items()
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)
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# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
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spawn_entity = Node(package='gazebo_ros', executable='spawn_entity',
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arguments=['-topic', 'robot_description',
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'-entity', 'my_bot'],
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output='screen')
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diff_drive_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diff_cont"],
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)
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joint_broad_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_broad"],
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)
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# Code for delaying a node (I haven't tested how effective it is)
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#
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# First add the below lines to imports
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# from launch.actions import RegisterEventHandler
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# from launch.event_handlers import OnProcessExit
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#
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# Then add the following below the current diff_drive_spawner
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# delayed_diff_drive_spawner = RegisterEventHandler(
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# event_handler=OnProcessExit(
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# target_action=spawn_entity,
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# on_exit=[diff_drive_spawner],
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# )
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# )
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#
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# Replace the diff_drive_spawner in the final return with delayed_diff_drive_spawner
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# Launch them all!
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return LaunchDescription([
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rsp,
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joystick,
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twist_mux,
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gazebo,
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spawn_entity,
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diff_drive_spawner,
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joint_broad_spawner
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])
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