fast_slam_gz

1import os
2from ament_index_python.packages import get_package_share_directory
3
4from launch import LaunchDescription
5from launch.actions import IncludeLaunchDescription
6from launch.launch_description_sources import PythonLaunchDescriptionSource
7
8from launch_ros.actions import Node
9
10import xacro
11
12def generate_launch_description():
13
14    # define package paths
15    pkg_description = get_package_share_directory("fast_slam_gz_description")
16    pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim")
17
18    doc = xacro.process_file(os.path.join(pkg_description, "urdf", "simple_bot.urdf.xacro"))
19    robot_desc = doc.toprettyxml(indent='  ')
20
21    bridge_config_path = os.path.join(pkg_description, 'config', 'bridge_config.yaml')
22
23    robot_state_publisher = Node(
24        package='robot_state_publisher',
25        executable='robot_state_publisher',
26        name='robot_state_publisher',
27        output='screen',
28        parameters=[{"robot_description": robot_desc}],
29        arguments=['--ros-args', '--log-level', "info"]
30    )
31
32    gz_sim_server = IncludeLaunchDescription(
33        PythonLaunchDescriptionSource(
34            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
35        ),
36        launch_arguments={
37            "gz_args": " -v4 -s -r " + os.path.join(pkg_description, 'world', "landmark.world"),
38            "gz_version": "8"
39        }.items(),
40    )
41
42    gz_sim_gui = IncludeLaunchDescription(
43        PythonLaunchDescriptionSource(
44            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
45        ),
46        launch_arguments={
47            "gz_args": f"-v4 -g " + os.path.join(pkg_description, 'world', "landmark.world"),
48            "gz_version": "8"
49        }.items(),
50    )
51
52    spawner = Node( 
53        package='ros_gz_sim', 
54        executable='create', 
55        arguments=[ '-name', 'simple_bot', '-world', 'landmark', '-topic', 'robot_description', '-z', '0.2'], 
56        output='screen', 
57    )
58    
59    
60
61    bridge = Node(
62        package="ros_gz_bridge",
63        executable="parameter_bridge",
64        parameters=[
65            {"config_file": bridge_config_path},
66        ],
67        output="screen",
68    )
69
70    rviz = Node(
71        package="rviz2",
72        executable="rviz2",
73        arguments=[
74            "-d",
75            os.path.join(pkg_description, "rviz", "landmark_world.rviz"),
76        ],
77    )
78
79    return LaunchDescription(
80        [
81            gz_sim_server,
82            gz_sim_gui,
83            robot_state_publisher,
84            bridge,
85            spawner,
86            rviz
87        ]    
88    )