emulator does smth

2026-06-11 16:45:51 +03:00
parent 51f8902728
commit 5dde585ba3
4 changed files with 409 additions and 14 deletions
@@ -0,0 +1,87 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.substitutions import FindPackageShare
+from launch.conditions import IfCondition
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "use_sim_time",
+            description="Use clock from simulation",
+            default_value="True",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="arctic_bot", description="Top-level namespace"
+        ),
+        DeclareLaunchArgument(
+            "start_rviz", default_value="True", description="Use basic rviz"
+        ),
+    ]
+
+    # Unity connection
+    unity_client = Node(
+        package="ros_tcp_endpoint",
+        executable="default_server_endpoint",
+        name="ros_tcp_endpoint",
+        # output="screen",
+        arguments=[
+            "--ros-args",
+            "-p",
+            "ROS_IP:=127.0.0.1",
+            "-p",
+            "ROS_TCP_PORT:=10000",
+        ],
+    )
+
+    # joy = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         PathJoinSubstitution([pkg_unity_robot_controller, "launch", "joy.launch.py"])
+    #     ),
+    #     launch_arguments={"namespace": LaunchConfiguration("namespace")}.items(),
+    # )
+
+    # fire extingusher emulator
+    fe_emulator = Node(
+        package="unity_robot_controller",
+        executable="fire_extinguisher_emulator_node",
+        parameters=[
+            {"use_sim_time": LaunchConfiguration("use_sim_time")},
+        ],
+        remappings=[
+            ("raw_image", "/arctic_bot/camera"),
+            ("camera_info", "/arctic_bot/camera/camera_info")
+        ]
+    )
+
+    rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        parameters=[
+            {"use_sim_time": LaunchConfiguration("use_sim_time")},
+        ],
+        arguments=[
+            "-d",
+            PathJoinSubstitution([pkg_unity_robot_controller, "config", "unity.rviz"]),
+        ],
+        condition=IfCondition(LaunchConfiguration('start_rviz'))
+    )
+
+    return LaunchDescription(
+        launch_args
+        + [
+            unity_client,
+            #joy,
+            fe_emulator,
+            rviz,
+        ]
+    )