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leander-dsouzaleander-dsouza
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Simplify launch (#13)
* Simplified arguments for Gazebo and RViz launch files. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added yaml configuration for ROS-Gazebo bridge. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
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-162
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3 files changed

+219
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lines changed

‎config/ros_gz_bridge.yaml‎

Lines changed: 53 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,53 @@
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- ros_topic_name: "/clock"
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gz_topic_name: "/clock"
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ros_type_name: "rosgraph_msgs/msg/Clock"
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gz_type_name: "gz.msgs.Clock"
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direction: GZ_TO_ROS
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7+
- ros_topic_name: "/joint_states"
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gz_topic_name: "/world/default/model/atreus/joint_state"
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ros_type_name: "sensor_msgs/msg/JointState"
10+
gz_type_name: "gz.msgs.Model"
11+
direction: GZ_TO_ROS
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- ros_topic_name: "/odom"
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gz_topic_name: "/odom"
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ros_type_name: "nav_msgs/msg/Odometry"
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gz_type_name: "gz.msgs.Odometry"
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direction: GZ_TO_ROS
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19+
- ros_topic_name: "/tf"
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gz_topic_name: "/tf"
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ros_type_name: "tf2_msgs/msg/TFMessage"
22+
gz_type_name: "gz.msgs.Pose_V"
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direction: GZ_TO_ROS
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25+
- ros_topic_name: "/imu"
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gz_topic_name: "/imu"
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ros_type_name: "sensor_msgs/msg/Imu"
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gz_type_name: "gz.msgs.IMU"
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direction: GZ_TO_ROS
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31+
- ros_topic_name: "scan"
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gz_topic_name: "/scan"
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ros_type_name: "sensor_msgs/msg/LaserScan"
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gz_type_name: "gz.msgs.LaserScan"
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direction: GZ_TO_ROS
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37+
- ros_topic_name: "/cmd_vel"
38+
gz_topic_name: "/cmd_vel"
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ros_type_name: "geometry_msgs/msg/Twist"
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gz_type_name: "gz.msgs.Twist"
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direction: ROS_TO_GZ
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43+
- ros_topic_name: "/camera/camera_info"
44+
gz_topic_name: "/camera/camera_info"
45+
ros_type_name: "sensor_msgs/msg/CameraInfo"
46+
gz_type_name: "gz.msgs.CameraInfo"
47+
direction: GZ_TO_ROS
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49+
- ros_topic_name: "/camera/points"
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gz_topic_name: "/camera/points"
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ros_type_name: "sensor_msgs/msg/PointCloud2"
52+
gz_type_name: "gz.msgs.PointCloudPacked"
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direction: GZ_TO_ROS

‎launch/description/gazebo.launch.py‎

Lines changed: 82 additions & 88 deletions
Original file line numberDiff line numberDiff line change
@@ -6,34 +6,68 @@
66
from ament_index_python.packages import get_package_share_directory
77
from launch import LaunchDescription
88
from launch.launch_description_sources import PythonLaunchDescriptionSource
9-
from launch.substitutions import LaunchConfiguration, Command, PythonExpression
9+
from launch.substitutions import LaunchConfiguration, Command, PythonExpression, PathJoinSubstitution
1010
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, AppendEnvironmentVariable
1111
from launch.conditions import IfCondition
1212
from launch_ros.actions import Node
13+
from launch_ros.substitutions import FindPackageShare
1314

1415

1516
def generate_launch_description():
1617
"""
1718
Launch Function
1819
"""
20+
pkg_dir = get_package_share_directory('atreus')
1921

20-
# .................. Configurable Arguments .....................
21-
22-
use_sim_time = True
23-
gui = False
22+
rviz_config_path = os.path.join(
23+
pkg_dir, 'config', 'rviz', 'urdf.rviz')
24+
world_path = os.path.join(pkg_dir, 'worlds', 'mapping.sdf')
25+
bridge_params_path = os.path.join(
26+
pkg_dir, 'config', 'ros_gz_bridge.yaml'
27+
)
2428

25-
world_name = 'mapping.sdf'
26-
camera_enabled = False
27-
two_d_lidar_enabled = False
28-
rviz_enabled = False
29-
rviz_config = 'urdf.rviz'
3029

31-
# ...............................................................
30+
# Create the launch configuration variables
31+
use_sim_time = LaunchConfiguration('use_sim_time')
32+
camera_enabled = LaunchConfiguration('camera_enabled')
33+
two_d_lidar_enabled = LaunchConfiguration('two_d_lidar_enabled')
34+
rviz_enabled = LaunchConfiguration('rviz_enabled')
35+
rviz_config = LaunchConfiguration('rviz_config')
3236

37+
# Declare the append environment variables
38+
append_env_var_gz_sim_resource_path = AppendEnvironmentVariable(
39+
name='GZ_SIM_RESOURCE_PATH',
40+
value=os.path.join(pkg_dir, "worlds") + ':' +
41+
os.path.join(pkg_dir, "models", "warehouse_models")
42+
)
3343

34-
pkg_dir = get_package_share_directory('atreus')
35-
gz_sim_pkg = get_package_share_directory('ros_gz_sim')
44+
# Declare the launch arguments
45+
declare_use_sim_time_arg = DeclareLaunchArgument(
46+
'use_sim_time', default_value='True',
47+
description='Flag to enable use_sim_time'
48+
)
49+
declare_world_name_arg = DeclareLaunchArgument(
50+
'world_name', default_value=world_path,
51+
description='Choice of Gazebo World'
52+
)
53+
declare_camera_enabled_arg = DeclareLaunchArgument(
54+
'camera_enabled', default_value='False',
55+
description='Flag to enable camera'
56+
)
57+
declare_two_d_lidar_enabled_arg = DeclareLaunchArgument(
58+
'two_d_lidar_enabled', default_value='False',
59+
description='Flag to enable 2D LiDAR'
60+
)
61+
declare_rviz_enabled_arg = DeclareLaunchArgument(
62+
'rviz_enabled', default_value='False',
63+
description='Flag to enable RViz'
64+
)
65+
declare_rviz_config_arg = DeclareLaunchArgument(
66+
'rviz_config', default_value=rviz_config_path,
67+
description='Full path to the RViz config file to use'
68+
)
3669

70+
# Include the Nodes
3771
gz_spawn_entity_node = Node(
3872
package="ros_gz_sim",
3973
executable="create",
@@ -45,49 +79,34 @@ def generate_launch_description():
4579
"-z", "0.5",
4680
]
4781
)
48-
49-
gz_ros2_bridge = Node(
50-
package="ros_gz_bridge",
51-
executable="parameter_bridge",
52-
arguments=[
53-
"/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
54-
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
55-
"/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
56-
"/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V",
57-
"/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
58-
"/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
59-
"/camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
60-
"/imu@sensor_msgs/msg/Imu[gz.msgs.IMU",
61-
"/world/default/model/atreus/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model"
62-
],
63-
remappings=[
64-
('/cmd_vel', '/cmd_vel'),
65-
('/odom', '/odom'),
66-
('/tf', '/tf'),
67-
('/scan', '/scan'),
68-
('/camera/camera_info', '/camera/camera_info'),
69-
('/camera/points', '/camera/points'),
70-
('/imu', '/imu'),
71-
('/world/default/model/atreus/joint_state', '/joint_states')
72-
]
82+
gz_ros2_bridge_node = Node(
83+
package='ros_gz_bridge',
84+
executable='parameter_bridge',
85+
name='bridge_ros_gz',
86+
parameters=[{
87+
'config_file': bridge_params_path,
88+
'use_sim_time': use_sim_time
89+
}],
90+
output='screen',
7391
)
7492

75-
7693
robot_state_publisher_node = Node(
7794
package='robot_state_publisher',
7895
executable='robot_state_publisher',
79-
parameters=[{'robot_description': Command( \
80-
['xacro ', os.path.join(pkg_dir, 'urdf/atreus.xacro'),
81-
' camera_enabled:=', LaunchConfiguration('camera_enabled'),
82-
' two_d_lidar_enabled:=', LaunchConfiguration('two_d_lidar_enabled'),
96+
parameters=[{'robot_description': Command(
97+
['xacro ', os.path.join(pkg_dir, 'urdf', 'atreus.xacro'),
98+
' camera_enabled:=', camera_enabled,
99+
' two_d_lidar_enabled:=', two_d_lidar_enabled
83100
])}]
84101
)
85102

86103
gz_sim_launch = IncludeLaunchDescription(
87-
PythonLaunchDescriptionSource(os.path.join(gz_sim_pkg, "launch", "gz_sim.launch.py")),
104+
PythonLaunchDescriptionSource(
105+
PathJoinSubstitution(
106+
[FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])),
88107
launch_arguments={
89108
"gz_args" : PythonExpression(
90-
["'", os.path.join(pkg_dir, 'worlds', world_name), " -r'"])
109+
["'", world_path, " -r'"])
91110
}.items()
92111
)
93112

@@ -96,54 +115,29 @@ def generate_launch_description():
96115
os.path.join(pkg_dir, "launch", "description", "rviz.launch.py")),
97116
launch_arguments={
98117
'gazebo_enabled': 'True',
99-
'rviz_config': LaunchConfiguration('rviz_config')
118+
'camera_enabled': camera_enabled,
119+
'two_d_lidar_enabled': two_d_lidar_enabled,
120+
'rviz_config': rviz_config,
100121
}.items(),
101-
condition=IfCondition(LaunchConfiguration('rviz_enabled'))
122+
condition=IfCondition(rviz_enabled)
102123
)
103124

104-
return LaunchDescription([
105-
106-
AppendEnvironmentVariable(
107-
name='GZ_SIM_RESOURCE_PATH',
108-
value=os.path.join(pkg_dir, "worlds")),
109-
110-
AppendEnvironmentVariable(
111-
name='GZ_SIM_RESOURCE_PATH',
112-
value=os.path.join(pkg_dir, "models", "warehouse_models")),
113-
114-
DeclareLaunchArgument('gui', \
115-
default_value=str(gui), \
116-
description='Flag to enable joint_state_publisher_gui'),
117-
118-
DeclareLaunchArgument("use_sim_time", \
119-
default_value=str(use_sim_time), \
120-
description="Use simulation/Gazebo clock"),
121-
122-
DeclareLaunchArgument("world_name", \
123-
default_value=world_name, \
124-
description="Choice of Gazebo World"),
125-
126-
DeclareLaunchArgument("camera_enabled", \
127-
default_value=str(camera_enabled), \
128-
description="Camera Xacro Argument"),
129-
130-
DeclareLaunchArgument("two_d_lidar_enabled", \
131-
default_value=str(two_d_lidar_enabled), \
132-
description="2D LiDAR Xacro Argument"),
125+
ld = LaunchDescription()
133126

134-
DeclareLaunchArgument("rviz_enabled", \
135-
default_value=str(rviz_enabled), \
136-
description="Start RViz"),
127+
ld.add_action(append_env_var_gz_sim_resource_path)
137128

138-
DeclareLaunchArgument("rviz_config", \
139-
default_value=rviz_config, \
140-
description="RViz Config"),
129+
ld.add_action(declare_use_sim_time_arg)
130+
ld.add_action(declare_world_name_arg)
131+
ld.add_action(declare_camera_enabled_arg)
132+
ld.add_action(declare_two_d_lidar_enabled_arg)
133+
ld.add_action(declare_rviz_enabled_arg)
134+
ld.add_action(declare_rviz_config_arg)
141135

142-
robot_state_publisher_node,
143-
gz_ros2_bridge,
144-
gz_spawn_entity_node,
136+
ld.add_action(robot_state_publisher_node)
137+
ld.add_action(gz_ros2_bridge_node)
138+
ld.add_action(gz_spawn_entity_node)
145139

146-
gz_sim_launch,
147-
rviz_launch,
140+
ld.add_action(gz_sim_launch)
141+
ld.add_action(rviz_launch)
148142

149-
])
143+
return ld

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