initial commit

src/gaz_simulation/launch/test_launch.py

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+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()
+        ),
+
+        # 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"]
+        # )
+    ])