@811877507 launch文件：
#!/usr/bin/env python3
#
# Copyright 2019 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Authors: Darby Lim, Ryan Shim
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
import xacro
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
def generate_launch_description():
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
)
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'),
'worlds', world_file_name)
world = '/opt/ros/foxy/share/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model'
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
)
turtlebot3_description_path = os.path.join(
get_package_share_directory('turtlebot3_description'))
xacro_file = os.path.join(turtlebot3_description_path,
'urdf',
'turtlebot3_waffle.xacro.urdf')
doc = xacro.parse(open(xacro_file))
xacro.process_doc(doc)
params = {'robot_description': doc.toxml()}
node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params]
)
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
arguments=[#'-topic', 'robot_description',
'-database', 'turtlebot3_waffle',
'-entity', 'turtlebot3_waffle'],
output='screen')
load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'joint_state_broadcaster'],
output='screen'
)
load_position_controllers = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
'lidar_joint_position_controller'],
output='screen'
)
return LaunchDescription([
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=spawn_entity,
on_exit=[load_joint_state_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_position_controllers],
)
),
gazebo,
# 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')
# ),
# ),
spawn_entity,
node_robot_state_publisher,
])
