Install Scripts Update

gazebo/launch/drone_landing.launch.py

@@ -2,9 +2,11 @@
 """
 Gazebo Launch File - Drone Landing Simulation
 Launches Gazebo with the world and spawns the drone.
+Supports both 'gz' (newer) and 'ign' (Fortress) commands.
 """
 
 import os
+import shutil
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
@@ -14,6 +16,17 @@ from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 
 
+def get_gazebo_command():
+    """Determine whether to use 'gz' or 'ign' command."""
+    if shutil.which('gz'):
+        return 'gz'
+    elif shutil.which('ign'):
+        return 'ign'
+    else:
+        # Default to gz, will fail with helpful error
+        return 'gz'
+
+
 def generate_launch_description():
     """Generate the launch description."""
     
@@ -25,12 +38,38 @@ def generate_launch_description():
     drone_model = os.path.join(model_path, 'drone', 'model.sdf')
     
     gz_resource_path = os.environ.get('GZ_SIM_RESOURCE_PATH', '')
-    if model_path not in gz_resource_path:
-        os.environ['GZ_SIM_RESOURCE_PATH'] = f"{model_path}:{gz_resource_path}"
+    ign_resource_path = os.environ.get('IGN_GAZEBO_RESOURCE_PATH', '')
+    combined_path = f"{model_path}:{gz_resource_path}:{ign_resource_path}"
+    
+    os.environ['GZ_SIM_RESOURCE_PATH'] = combined_path
+    os.environ['IGN_GAZEBO_RESOURCE_PATH'] = combined_path
     
     use_sim_time = LaunchConfiguration('use_sim_time', default='true')
     headless = LaunchConfiguration('headless', default='false')
     
+    # Detect which Gazebo command is available
+    gz_cmd = get_gazebo_command()
+    
+    # For ign command, use 'gazebo' subcommand; for gz, use 'sim'
+    if gz_cmd == 'ign':
+        sim_cmd = [gz_cmd, 'gazebo', '-r', world_file]
+        spawn_cmd = [
+            gz_cmd, 'service', '-s', '/world/drone_landing_world/create',
+            '--reqtype', 'ignition.msgs.EntityFactory',
+            '--reptype', 'ignition.msgs.Boolean',
+            '--timeout', '5000',
+            '--req', f'sdf_filename: "{drone_model}", name: "drone"'
+        ]
+    else:
+        sim_cmd = [gz_cmd, 'sim', '-r', world_file]
+        spawn_cmd = [
+            gz_cmd, 'service', '-s', '/world/drone_landing_world/create',
+            '--reqtype', 'gz.msgs.EntityFactory',
+            '--reptype', 'gz.msgs.Boolean',
+            '--timeout', '5000',
+            '--req', f'sdf_filename: "{drone_model}", name: "drone"'
+        ]
+    
     return LaunchDescription([
         DeclareLaunchArgument(
             'use_sim_time',
@@ -44,19 +83,16 @@ def generate_launch_description():
         ),
         
         ExecuteProcess(
-            cmd=['gz', 'sim', '-r', world_file],
+            cmd=sim_cmd,
             output='screen',
-            additional_env={'GZ_SIM_RESOURCE_PATH': os.environ.get('GZ_SIM_RESOURCE_PATH', '')}
+            additional_env={
+                'GZ_SIM_RESOURCE_PATH': combined_path,
+                'IGN_GAZEBO_RESOURCE_PATH': combined_path
+            }
         ),
         
         ExecuteProcess(
-            cmd=[
-                'gz', 'service', '-s', '/world/drone_landing_world/create',
-                '--reqtype', 'gz.msgs.EntityFactory',
-                '--reptype', 'gz.msgs.Boolean',
-                '--timeout', '5000',
-                '--req', f'sdf_filename: "{drone_model}", name: "drone"'
-            ],
+            cmd=spawn_cmd,
             output='screen'
         ),
         
@@ -77,8 +113,18 @@ def generate_launch_description():
 
 
 if __name__ == '__main__':
-    print("This is a ROS 2 launch file. Run with:")
-    print("  ros2 launch <package_name> drone_landing.launch.py")
-    print("")
-    print("Or use the standalone script:")
-    print("  python3 gazebo_bridge.py")
+    print("This is a ROS 2 launch file.")
+    print()
+    print("Usage:")
+    print("  ros2 launch gazebo/launch/drone_landing.launch.py")
+    print()
+    print("Or start Gazebo manually:")
+    
+    gz_cmd = get_gazebo_command()
+    if gz_cmd == 'ign':
+        print("  ign gazebo gazebo/worlds/drone_landing.sdf")
+    else:
+        print("  gz sim gazebo/worlds/drone_landing.sdf")
+    
+    print()
+    print("Then run: python run_gazebo.py")