create3_sim/irobot_create_ignition/irobot_create_ignition_bringup/launch/ignition.launch.py at 90d914a5e9d1bfc4d807836ef9b7bcece84de091 · iRobotEducation/create3_sim · GitHub

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# Copyright 2021 Clearpath Robotics, Inc.
# @author Roni Kreinin (rkreinin@clearpathrobotics.com)

import os

from pathlib import Path

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription, AppendEnvironmentVariable
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node


ARGUMENTS = [
    DeclareLaunchArgument('use_sim_time', default_value='true',
                          choices=['true', 'false'],
                          description='use_sim_time'),
    DeclareLaunchArgument('world', default_value='depot',
                          description='Ignition World'),
]


def generate_launch_description():

    # Directories
    pkg_irobot_create_ignition_bringup = get_package_share_directory(
        'irobot_create_ignition_bringup')
    pkg_irobot_create_ignition_plugins = get_package_share_directory(
        'irobot_create_ignition_plugins')
    pkg_irobot_create_description = get_package_share_directory(
        'irobot_create_description')
    pkg_ros_ign_gazebo = get_package_share_directory(
        'ros_ign_gazebo')

    # Set Ignition resource path
    ign_resource_path = AppendEnvironmentVariable(name='IGN_GAZEBO_RESOURCE_PATH',
                                               value=[os.path.join(
                                                      pkg_irobot_create_ignition_bringup,
                                                      'worlds'), ':' +
                                                      str(Path(
                                                          pkg_irobot_create_description).
                                                          parent.resolve())])

    ign_gui_plugin_path = AppendEnvironmentVariable(name='IGN_GUI_PLUGIN_PATH',
                                                 value=[os.path.join(
                                                        pkg_irobot_create_ignition_plugins,
                                                        'lib')])

    # Paths
    ign_gazebo_launch = PathJoinSubstitution(
        [pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'])

    # Ignition gazebo
    ignition_gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([ign_gazebo_launch]),
        launch_arguments=[
            ('ign_args', [LaunchConfiguration('world'),
                          '.sdf',
                          ' -v 4',
                          ' --gui-config ',
                          PathJoinSubstitution([pkg_irobot_create_ignition_bringup,
                                                'gui', 'create3', 'gui.config'])])
        ]
    )

    # clock bridge
    clock_bridge = Node(package='ros_gz_bridge', executable='parameter_bridge',
                        name='clock_bridge',
                        output='screen',
                        arguments=[
                            '/clock' + '@rosgraph_msgs/msg/Clock' + '[ignition.msgs.Clock'
                        ])

    # Create launch description and add actions
    ld = LaunchDescription(ARGUMENTS)
    ld.add_action(ign_resource_path)
    ld.add_action(ign_gui_plugin_path)
    ld.add_action(ignition_gazebo)
    ld.add_action(clock_bridge)
    return ld