Spawn models with bridge

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

ros_gz_sim/CMakeLists.txt

@@ -121,7 +121,10 @@ install(FILES
 
 install(FILES
   "launch/gz_server.launch.py"
+  "launch/gz_spawn_model.launch.py"
   "launch/ros_gz_sim.launch.py"
+  "launch/ros_gz_spawn_model.launch.py"
+
   DESTINATION share/${PROJECT_NAME}/launch
 )
 

ros_gz_sim/launch/gz_spawn_model.launch.py

@@ -0,0 +1,99 @@
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch create to spawn models in gz sim."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    world = LaunchConfiguration('world')
+    file = LaunchConfiguration('file')
+    xml_string = LaunchConfiguration('string')
+    topic = LaunchConfiguration('topic')
+    name = LaunchConfiguration('name')
+    allow_renaming = LaunchConfiguration('allow_renaming')
+    x = LaunchConfiguration('x', default='0.0')
+    y = LaunchConfiguration('y', default='0.0')
+    z = LaunchConfiguration('z', default='0.0')
+    roll = LaunchConfiguration('R', default='0.0')
+    pitch = LaunchConfiguration('P', default='0.0')
+    yaw = LaunchConfiguration('Y', default='0.0')
+
+    declare_world_cmd = DeclareLaunchArgument(
+        'world', default_value=TextSubstitution(text=''),
+        description='World name')
+    declare_file_cmd = DeclareLaunchArgument(
+        'file', default_value=TextSubstitution(text=''),
+        description='SDF filename')
+    declare_xml_string_cmd = DeclareLaunchArgument(
+        'string',
+        default_value='',
+        description='XML string',
+    )
+    declare_topic_cmd = DeclareLaunchArgument(
+        'topic', default_value=TextSubstitution(text=''),
+        description='Get XML from this topic'
+    )
+    declare_name_cmd = DeclareLaunchArgument(
+        'name', default_value=TextSubstitution(text=''),
+        description='Name of the entity'
+    )
+    declare_allow_renaming_cmd = DeclareLaunchArgument(
+        'allow_renaming', default_value='False',
+        description='Whether the entity allows renaming or not'
+    )
+
+    load_nodes = GroupAction(
+        actions=[
+            Node(
+                package='ros_gz_sim',
+                executable='create',
+                output='screen',
+                parameters=[{'world': world,
+                             'file': file,
+                             'string': xml_string,
+                             'topic': topic,
+                             'name': name,
+                             'allow_renaming': allow_renaming,
+                             'x': x,
+                             'y': y,
+                             'z': z,
+                             'R': roll,
+                             'P': pitch,
+                             'Y': yaw,
+                             }],
+            ),
+        ],
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_world_cmd)
+    ld.add_action(declare_file_cmd)
+    ld.add_action(declare_xml_string_cmd)
+    ld.add_action(declare_topic_cmd)
+    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_allow_renaming_cmd)
+    # Add the actions to launch all of the create nodes
+    ld.add_action(load_nodes)
+
+    return ld

ros_gz_sim/launch/ros_gz_spawn_model.launch.py

@@ -0,0 +1,155 @@
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch gzsim + ros_gz_bridge in a component container."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    config_file = LaunchConfiguration('config_file')
+    container_name = LaunchConfiguration('container_name')
+    namespace = LaunchConfiguration('namespace')
+    use_composition = LaunchConfiguration('use_composition')
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
+
+    world = LaunchConfiguration('world')
+    file = LaunchConfiguration('file')
+    xml_string = LaunchConfiguration('string')
+    topic = LaunchConfiguration('topic')
+    name = LaunchConfiguration('name')
+    allow_renaming = LaunchConfiguration('allow_renaming')
+    x = LaunchConfiguration('x', default='0.0')
+    y = LaunchConfiguration('y', default='0.0')
+    z = LaunchConfiguration('z', default='0.0')
+    roll = LaunchConfiguration('R', default='0.0')
+    pitch = LaunchConfiguration('P', default='0.0')
+    yaw = LaunchConfiguration('Y', default='0.0')
+
+    declare_config_file_cmd = DeclareLaunchArgument(
+        'config_file', default_value='', description='YAML config file'
+    )
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name',
+        default_value='ros_gz_container',
+        description='Name of container that nodes will load in if use composition',
+    )
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace', default_value='', description='Top-level namespace'
+    )
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition', default_value='False', description='Use composed bringup if True'
+    )
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn',
+        default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
+    )
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info', description='log level'
+    )
+
+    declare_world_cmd = DeclareLaunchArgument(
+        'world', default_value=TextSubstitution(text=''),
+        description='World name')
+
+    declare_file_cmd = DeclareLaunchArgument(
+        'file', default_value=TextSubstitution(text=''),
+        description='SDF filename')
+
+    declare_xml_string_cmd = DeclareLaunchArgument(
+        'string',
+        default_value='',
+        description='XML string',
+    )
+
+    declare_topic_cmd = DeclareLaunchArgument(
+        'topic', default_value=TextSubstitution(text=''),
+        description='Get XML from this topic'
+    )
+
+    declare_name_cmd = DeclareLaunchArgument(
+        'name', default_value=TextSubstitution(text=''),
+        description='Name of the entity'
+    )
+
+    declare_allow_renaming_cmd = DeclareLaunchArgument(
+        'allow_renaming', default_value='False',
+        description='Whether the entity allows renaming or not'
+    )
+
+    bridge_description = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
+                                   'launch',
+                                   'ros_gz_bridge.launch.py'])]),
+        launch_arguments=[('config_file', config_file),
+                          ('container_name', container_name),
+                          ('namespace', namespace),
+                          ('use_composition', use_composition),
+                          ('use_respawn', use_respawn),
+                          ('log_level', log_level), ])
+
+    spawn_model_description = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
+                                   'launch',
+                                   'gz_spawn_model.launch.py'])]),
+        launch_arguments=[('world', world),
+                          ('file', file),
+                          ('xml_string', xml_string),
+                          ('topic', topic),
+                          ('name', name),
+                          ('allow_renaming', allow_renaming),
+                          ('x', x),
+                          ('y', y),
+                          ('z', z),
+                          ('R', roll),
+                          ('P', pitch),
+                          ('Y', yaw),
+                          ('use_composition', use_composition), ])
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_config_file_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+    ld.add_action(declare_world_cmd)
+    ld.add_action(declare_file_cmd)
+    ld.add_action(declare_xml_string_cmd)
+    ld.add_action(declare_topic_cmd)
+    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_allow_renaming_cmd)
+    # Add the actions to launch all of the bridge + spawn_model nodes
+    ld.add_action(bridge_description)
+    ld.add_action(spawn_model_description)
+
+    return ld