Initial Attempt

gazebo/launch/drone_landing.launch.py

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+#!/usr/bin/env python3
+"""
+Gazebo Launch File - Drone Landing Simulation
+Launches Gazebo with the world and spawns the drone.
+"""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """Generate the launch description."""
+    
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    gazebo_dir = os.path.dirname(script_dir)
+    
+    world_file = os.path.join(gazebo_dir, 'worlds', 'drone_landing.sdf')
+    model_path = os.path.join(gazebo_dir, 'models')
+    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}"
+    
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    headless = LaunchConfiguration('headless', default='false')
+    
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use simulation (Gazebo) clock'
+        ),
+        DeclareLaunchArgument(
+            'headless',
+            default_value='false',
+            description='Run Gazebo in headless mode (no GUI)'
+        ),
+        
+        ExecuteProcess(
+            cmd=['gz', 'sim', '-r', world_file],
+            output='screen',
+            additional_env={'GZ_SIM_RESOURCE_PATH': os.environ.get('GZ_SIM_RESOURCE_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"'
+            ],
+            output='screen'
+        ),
+        
+        Node(
+            package='ros_gz_bridge',
+            executable='parameter_bridge',
+            name='gz_bridge',
+            arguments=[
+                '/drone/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
+                '/model/drone/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
+                '/drone/imu@sensor_msgs/msg/Imu@gz.msgs.IMU',
+                '/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock',
+            ],
+            parameters=[{'use_sim_time': use_sim_time}],
+            output='screen'
+        ),
+    ])
+
+
+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")