basic import of generated iisy_config

src/gaz_simulation/launch/moveit_launch.py

@@ -0,0 +1,114 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess, IncludeLaunchDescription
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import Command
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    robot_name = "iisy"
+    package_name = "gaz_simulation"
+    pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')
+    path = FindPackageShare(package=package_name).find(package_name)
+    world_path = os.path.join(path, "world/test2.xml")
+    urdf_path = os.path.join(path, "urdf/iisy.urdf")
+    return LaunchDescription([
+        #IncludeLaunchDescription(
+        #    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
+        #    launch_arguments={'world': world_path}.items()
+        #),
+        
+        ExecuteProcess(
+            cmd=[[
+                'LIBGL_ALWAYS_SOFTWARE=true ros2 launch gazebo_ros gzserver.launch.py "world:='+world_path+'"'
+            ]],
+            shell=True
+        ),
+
+
+        # Start Gazebo client
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
+        ),
+        Node(
+            package='tf2_ros',
+            namespace='gaz_simulation',
+            executable='static_transform_publisher',
+            name='lidar_1_broadcaster',
+            arguments=["1", "-1.9", "1", "1.5707963267949", "0", "0", "map", "lidar_1_link"]
+        ),
+        Node(
+            package='tf2_ros',
+            namespace='gaz_simulation',
+            executable='static_transform_publisher',
+            name='lidar_2_broadcaster',
+            arguments=["-1.9", "1", "1", "0", "0", "0", "map", "lidar_2_link"]
+        ),
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-entity', robot_name,
+                       '-topic', 'robot_description',
+                       '-x', '-1',
+                       '-y', '-1',
+                       '-z', '1',
+                       '-Y', '0'],  # Yaw
+            output='screen'
+        ),
+        # Subscribe to the joint states of the robot, and publish the 3D pose of each link.
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[{'robot_description': Command(['xacro ', urdf_path])}]
+        ),
+
+        # Publish the joint states of the robot
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        )
+
+        # ,
+        # Node(
+        #    namespace='turtlesim1',
+        #    executable='gazebo',
+        #    name='gazebo',
+        #    arguments=["test.xml"]
+        # )
+    ])
+
+
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J base_link1_joint 0 -J base_rot 0 -J link1_link2_joint 0 -J link2_link3_joint 0 -J link2_rot 0 -J link3_rot 0"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <let name="world_name" default="worlds/empty.world"/>
+    <let name="paused" value="true"/>
+    <let name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find gaz_simulation)/urdf/iisy.urdf" />
+
+  <!-- unpause only after loading robot model -->
+  <let name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <param from="$(find iisy_config)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+</launch>

src/gaz_simulation/launch/test_launch.py

@@ -6,6 +6,7 @@ from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import Command
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
+
 def generate_launch_description():
     robot_name = "iisy"
     package_name = "gaz_simulation"