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                     "use_sim_time": True
30                     }],
31        arguments=['--ros-args', '--log-level', "info"]
32    )
33
34    gz_sim_server = IncludeLaunchDescription(
35        PythonLaunchDescriptionSource(
36            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
37        ),
38        launch_arguments={
39            "gz_args": " -v4 -s -r " + os.path.join(pkg_description, 'world', "landmark_ambiguous_x_w_poses.world"),
40            "gz_version": "8"
41        }.items(),
42    )
43
44    gz_sim_gui = IncludeLaunchDescription(
45        PythonLaunchDescriptionSource(
46            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
47        ),
48        launch_arguments={
49            "gz_args": f"-v4 -g " + os.path.join(pkg_description, 'world', "landmark_ambiguous_x_w_poses.world"),
50            "gz_version": "8"
51        }.items(),
52    )
53
54    spawner = Node( 
55        package='ros_gz_sim', 
56        executable='create', 
57        arguments=[ '-name', 'simple_bot', '-world', 'landmark', '-topic', 'robot_description', '-z', '0.2'], 
58        output='screen', 
59    )
60    
61    
62
63    bridge = Node(
64        package="ros_gz_bridge",
65        executable="parameter_bridge",
66        parameters=[
67            {"config_file": bridge_config_path},
68        ],
69        output="screen",
70    )
71
72    return LaunchDescription(
73        [
74            gz_sim_server,
75            gz_sim_gui,
76            robot_state_publisher,
77            bridge,
78            spawner,
79        ]    
80    )