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109 lines
3.3 KiB
Python
109 lines
3.3 KiB
Python
from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.substitutions import (
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PathJoinSubstitution,
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LaunchConfiguration,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.substitutions import FindPackageShare
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from launch.conditions import IfCondition
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
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# Launch arguments
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launch_args = [
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DeclareLaunchArgument(
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"use_sim_time",
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description="Use clock from simulation",
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default_value="True",
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),
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DeclareLaunchArgument(
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"namespace", default_value="sirius_bot", description="Top-level namespace"
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),
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DeclareLaunchArgument(
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"start_rviz", default_value="True", description="Use basic rviz"
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),
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]
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# Unity connection
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unity_client = Node(
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package="ros_tcp_endpoint",
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executable="default_server_endpoint",
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name="ros_tcp_endpoint",
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# output="screen",
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arguments=[
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"--ros-args",
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"-p",
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"ROS_IP:=127.0.0.1",
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"-p",
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"ROS_TCP_PORT:=10000",
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],
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)
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# joy = IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(
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# PathJoinSubstitution([pkg_unity_robot_controller, "launch", "joy.launch.py"])
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# ),
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# launch_arguments={"namespace": LaunchConfiguration("namespace")}.items(),
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# )
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# fire extingusher emulator
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fe_emulator = Node(
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package="unity_robot_controller",
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executable="fire_extinguisher_emulator_node",
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namespace=LaunchConfiguration("namespace"),
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parameters=[
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{"use_sim_time": LaunchConfiguration("use_sim_time")},
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{"crosshair_alpha": 1.0},
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{"sof_cos_sim": 0.99},
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{"fe_distance": 10.0},
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],
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remappings=[
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("raw_image", "/sirius_bot/camera/image_view"),
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("camera_info", "/sirius_bot/camera/camera_info")
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]
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)
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rviz = Node(
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package="rviz2",
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executable="rviz2",
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parameters=[
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{"use_sim_time": LaunchConfiguration("use_sim_time")},
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],
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arguments=[
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"-d",
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PathJoinSubstitution([pkg_unity_robot_controller, "config", "unity.rviz"]),
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],
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condition=IfCondition(LaunchConfiguration('start_rviz'))
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)
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pkg_gen_location_on_mesh = FindPackageShare(package="").find("gen_locations_on_mesh")
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mesh_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "sirius_scene_floor.ply"])
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cache_path = PathJoinSubstitution([pkg_gen_location_on_mesh, "share", "cache.pkl"])
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start_gen_location_on_mesh_cmd = Node(
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name='gen_locations_on_mesh',
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package='gen_locations_on_mesh',
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executable='gen_locations_on_mesh',
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parameters=[{'mesh_filename': mesh_path,
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'cache_filename': cache_path,
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'init_number_of_points': 100,
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'max_z_coord': 3.}])
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return LaunchDescription(
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launch_args
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+ [
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unity_client,
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#joy,
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fe_emulator,
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rviz,
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start_gen_location_on_mesh_cmd,
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]
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)
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