79 lines
2.4 KiB
Python
79 lines
2.4 KiB
Python
import os
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import pathlib
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import launch
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from ament_index_python.packages import get_package_share_directory
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from webots_ros2_driver.webots_launcher import WebotsLauncher
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from webots_ros2_driver.utils import controller_url_prefix
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def generate_launch_description():
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package_dir = get_package_share_directory('sweet_webots_robot')
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controllers_dir = os.path.join( package_dir,'controllers')
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robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'sweet_robot.urdf')).read_text()
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webots = WebotsLauncher(
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world=os.path.join(package_dir, 'worlds', 'sweet_robot.wbt')
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#world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
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)
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my_robot_driver = Node(
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package='webots_ros2_driver',
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executable='driver',
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output='screen',
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additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix() + 'tracked_robot'},
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#additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix() + 'my_robot'},
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parameters=[
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{'robot_description': robot_description},
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]
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)
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pkg_path = get_package_share_directory(
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'sweet_webots_robot'
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)
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urdf_file = os.path.join(
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pkg_path,
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'urdf',
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'rviz_robot.urdf'
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)
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with open(urdf_file, 'r') as f:
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robot_description = f.read()
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[
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{
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'robot_description': robot_description
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}
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],
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output='screen'
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen'
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)
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path_visualizer = Node(
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package='sweet_webots_robot',
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executable='path_visualizer',
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name='path_visualizer',
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output='screen'
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)
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return LaunchDescription([
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webots,
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my_robot_driver,
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robot_state_publisher,
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rviz_node,
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#path_visualizer,
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launch.actions.RegisterEventHandler(
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event_handler=launch.event_handlers.OnProcessExit(
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target_action=webots,
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on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
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)
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)
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])
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