color_objects.launch.pyからemptyworld.launch.pyを実行するように変更

raspimouse_gazebo/launch/raspimouse_with_color_objects.launch.py

@@ -22,125 +22,27 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from raspimouse_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
-from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
 from launch_ros.actions import SetParameter
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.descriptions import ComposableNode
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
-    declare_arg_lidar = DeclareLaunchArgument(
-        'lidar',
-        default_value='none',
-        description='Set "none", "urg", "lds", or "rplidar".')
-    declare_arg_lidar_frame = DeclareLaunchArgument(
-        'lidar_frame',
-        default_value='laser',
-        description='Set lidar link name.')
-    declare_arg_use_rgb_camera = DeclareLaunchArgument(
-        'use_rgb_camera',
-        default_value='false',
-        description='Set "true" to mount rgb camera.')
-
-    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
-           'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
-               get_package_share_directory('raspimouse_description')) + ':' +
-           os.path.join(get_package_share_directory('raspimouse_gazebo'), 'models'),
-           }
     world_file = os.path.join(
-        get_package_share_directory('raspimouse_gazebo'), 'worlds', 'color_objects_world.sdf')
-    gui_config = os.path.join(
-        get_package_share_directory('raspimouse_gazebo'), 'gui', 'gui.config')
-    ign_gazebo = ExecuteProcess(
-            cmd=['ign gazebo -r', world_file, '--gui-config', gui_config],
-            output='screen',
-            additional_env=env,
-            shell=True
-        )
-
-    ignition_spawn_entity = Node(
-        package='ros_gz_sim',
-        executable='create',
-        output='screen',
-        arguments=['-topic', '/robot_description',
-                   '-name', 'raspimouse',
-                   '-allow_renaming', 'true'],
-    )
-
-    description_loader = RobotDescriptionLoader()
-    description_loader.lidar = LaunchConfiguration('lidar')
-    description_loader.lidar_frame = LaunchConfiguration('lidar_frame')
-    description_loader.use_gazebo = 'true'
-    description_loader.use_rgb_camera = LaunchConfiguration('use_rgb_camera')
-    description_loader.gz_control_config_package = 'raspimouse_gazebo'
-    description_loader.gz_control_config_file_path = 'config/raspimouse_controllers.yaml'
-
-    robot_state_publisher = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        output='screen',
-        parameters=[{'robot_description': description_loader.load()}]
-    )
-
-    spawn_joint_state_broadcaster = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner joint_state_broadcaster'],
-                shell=True,
-                output='screen',
-            )
-
-    spawn_diff_drive_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner diff_drive_controller'],
-                shell=True,
-                output='screen',
-            )
-
-    rviz_config_file = get_package_share_directory(
-        'raspimouse_gazebo') + '/config/config.rviz'
-    rviz = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="screen",
-        arguments=["-d", rviz_config_file],
-    )
-
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
-        output='screen'
-    )
-
-    container = ComposableNodeContainer(
-            name='fake_raspimouse_container',
-            namespace='',
-            package='rclcpp_components',
-            executable='component_container_mt',
-            composable_node_descriptions=[
-                ComposableNode(
-                    package='raspimouse_fake',
-                    plugin='fake_raspimouse::Raspimouse',
-                    name='raspimouse'),
-            ],
-            output='screen',
+        get_package_share_directory('raspimouse_gazebo'),
+        'worlds',
+        'color_objects_world.sdf')
+    world_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('raspimouse_gazebo'),
+            '/launch/raspimouse_with_emptyworld.launch.py']),
+        launch_arguments={
+            'world_name': world_file
+            }.items()
     )
 
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
-        declare_arg_lidar,
-        declare_arg_lidar_frame,
-        declare_arg_use_rgb_camera,
-        ign_gazebo,
-        ignition_spawn_entity,
-        robot_state_publisher,
-        spawn_joint_state_broadcaster,
-        spawn_diff_drive_controller,
-        rviz,
-        bridge,
-        container
+        world_launch
     ])