Add view_racetrack launcher

README.md

@@ -49,7 +49,7 @@ ros2 launch aws_robomaker_racetrack_world view_racetrack.launch.py
 ```
 
 # Robot Simulation
-A good initial robot position near the start line is (2.75, -14.00, 0.0).   
+A good initial robot position near the start line is (2.75, -15.00, 0.2).   
 
 ![Gazebo01](docs/images/turtlebot_burger.png)
 

launch/racetrack.launch.py

@@ -2,17 +2,16 @@
 import sys
 
 import launch
-from launch.conditions import IfCondition
-from launch.substitutions import PythonExpression
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
 from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
-
-    mode = launch.substitutions.LaunchConfiguration('mode')
-    world = os.path.join(get_package_share_directory('aws_robomaker_racetrack_world'), 'worlds')
-
+    mode = 'day' # Change mode
+    package_dir = get_package_share_directory('aws_robomaker_racetrack_world')
     gazebo_ros = get_package_share_directory('gazebo_ros')
+
     gazebo_client = launch.actions.IncludeLaunchDescription(
 	launch.launch_description_sources.PythonLaunchDescriptionSource(
             os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
@@ -22,27 +21,27 @@ def generate_launch_description():
         launch.launch_description_sources.PythonLaunchDescriptionSource(
             os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
     )
-    mode = launch.substitutions.LaunchConfiguration('mode')
 
-    ld = launch.LaunchDescription([
-        launch.actions.DeclareLaunchArgument(
+    return LaunchDescription([
+        DeclareLaunchArgument(
           'world',
-          default_value=[PythonExpression(['"',world,'" + "/racetrack_" + "', mode, '" + ".world"']),''],
+          default_value=[os.path.join(package_dir, 'worlds', 'racetrack_' + mode + '.world'), ''],
           description='SDF world file'),
-        launch.actions.DeclareLaunchArgument(
+        DeclareLaunchArgument(
             name='gui',
             default_value='false'
         ),
-        launch.actions.DeclareLaunchArgument(
-          name='mode',
-          default_value='night',
-          description='day or night modes are available'),
+        DeclareLaunchArgument(
+            name='use_sim_time',
+            default_value='true'
+        ),
+        DeclareLaunchArgument('state',
+            default_value='true',
+            description='Set "true" to load "libgazebo_ros_state.so"'),
         gazebo_server,
-        gazebo_client
+        gazebo_client,
     ])
 
-    return ld
-
 
 if __name__ == '__main__':
     generate_launch_description()

launch/view_racetrack.launch.py

@@ -0,0 +1,25 @@
+import os
+import sys
+
+import launch
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.IncludeLaunchDescription(
+            launch.launch_description_sources.PythonLaunchDescriptionSource(
+                [get_package_share_directory(
+                    'aws_robomaker_racetrack_world'), '/launch/racetrack.launch.py']
+            ),
+            launch_arguments={
+                'gui': 'true'
+            }.items()
+        )
+    ])
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()