82 lines
2.6 KiB
Python
82 lines
2.6 KiB
Python
#!/usr/bin/env python3
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"""
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Gazebo Launch File - Drone Landing Simulation
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Works with Ignition Fortress (ROS 2 Humble)
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"""
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import os
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import shutil
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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"""Generate the launch description."""
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# Get paths
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script_dir = os.path.dirname(os.path.abspath(__file__))
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gazebo_dir = os.path.dirname(script_dir)
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world_file = os.path.join(gazebo_dir, 'worlds', 'drone_landing.sdf')
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# Determine which gazebo command is available
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if shutil.which('ign'):
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gz_cmd = ['ign', 'gazebo', '-r', world_file]
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elif shutil.which('gz'):
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gz_cmd = ['gz', 'sim', '-r', world_file]
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else:
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gz_cmd = ['ign', 'gazebo', '-r', world_file]
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use simulation clock'
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),
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# Start Gazebo
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ExecuteProcess(
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cmd=gz_cmd,
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output='screen'
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),
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# ROS-Gazebo Bridge
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Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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name='gz_bridge',
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arguments=[
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# Drone velocity commands (ROS to Gazebo)
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'/drone/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist',
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# Rover velocity commands (ROS to Gazebo)
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'/rover/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist',
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# Odometry (from Gazebo to ROS)
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'/model/drone/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry',
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# IMU (from Gazebo to ROS)
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'/drone/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU',
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# Clock
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'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
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],
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parameters=[{'use_sim_time': use_sim_time}],
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output='screen'
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),
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])
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if __name__ == '__main__':
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print("This is a ROS 2 launch file.")
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print()
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print("Usage:")
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print(" ros2 launch gazebo/launch/drone_landing.launch.py")
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print()
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print("Or start Gazebo manually:")
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if shutil.which('ign'):
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print(" ign gazebo gazebo/worlds/drone_landing.sdf")
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else:
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print(" gz sim gazebo/worlds/drone_landing.sdf")
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print()
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print("Then run: python run_gazebo.py")
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