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Launch file for running gzserver (#532)
* Launch file for the bridge Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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# 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. | ||
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"""Launch gzserver in a component container.""" | ||
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from launch import LaunchDescription | ||
from launch.actions import DeclareLaunchArgument, GroupAction | ||
from launch.conditions import IfCondition | ||
from launch.substitutions import LaunchConfiguration, PythonExpression, TextSubstitution | ||
from launch_ros.actions import ComposableNodeContainer, Node | ||
from launch_ros.descriptions import ComposableNode | ||
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def generate_launch_description(): | ||
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world_sdf_file = LaunchConfiguration('world_sdf_file') | ||
world_sdf_string = LaunchConfiguration('world_sdf_string') | ||
container_name = LaunchConfiguration('container_name') | ||
use_composition = LaunchConfiguration('use_composition') | ||
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declare_world_sdf_file_cmd = DeclareLaunchArgument( | ||
'world_sdf_file', default_value=TextSubstitution(text=''), | ||
description='Path to the SDF world file') | ||
declare_world_sdf_string_cmd = DeclareLaunchArgument( | ||
'world_sdf_string', default_value=TextSubstitution(text=''), | ||
description='SDF world string') | ||
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_use_composition_cmd = DeclareLaunchArgument( | ||
'use_composition', default_value='False', description='Use composed bringup if True' | ||
) | ||
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load_nodes = GroupAction( | ||
condition=IfCondition(PythonExpression(['not ', use_composition])), | ||
actions=[ | ||
Node( | ||
package='ros_gz_sim', | ||
executable='gzserver', | ||
output='screen', | ||
parameters=[{'world_sdf_file': world_sdf_file, | ||
'world_sdf_string': world_sdf_string}], | ||
), | ||
], | ||
) | ||
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load_composable_nodes = ComposableNodeContainer( | ||
condition=IfCondition(use_composition), | ||
name=container_name, | ||
namespace='', | ||
package='rclcpp_components', | ||
executable='component_container', | ||
composable_node_descriptions=[ | ||
ComposableNode( | ||
package='ros_gz_sim', | ||
plugin='ros_gz_sim::GzServer', | ||
name='gzserver', | ||
parameters=[{'world_sdf_file': world_sdf_file, | ||
'world_sdf_string': world_sdf_string}], | ||
extra_arguments=[{'use_intra_process_comms': True}], | ||
), | ||
], | ||
output='screen', | ||
) | ||
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# Create the launch description and populate | ||
ld = LaunchDescription() | ||
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# Declare the launch options | ||
ld.add_action(declare_world_sdf_file_cmd) | ||
ld.add_action(declare_world_sdf_string_cmd) | ||
ld.add_action(declare_container_name_cmd) | ||
ld.add_action(declare_use_composition_cmd) | ||
# Add the actions to launch all of the gzserver nodes | ||
ld.add_action(load_nodes) | ||
ld.add_action(load_composable_nodes) | ||
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return ld |