Initial Commit

launch/uav_only.launch.py

@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+"""UAV-only Simulation Launch."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, TimerAction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import os
+
+
+def generate_launch_description():
+    pkg_share = FindPackageShare('uav_ugv_simulation').find('uav_ugv_simulation')
+    
+    world_arg = DeclareLaunchArgument(
+        'world',
+        default_value=os.path.join(pkg_share, 'worlds', 'empty_custom.world'),
+        description='Path to world file'
+    )
+    
+    gazebo = ExecuteProcess(
+        cmd=['gazebo', '--verbose', LaunchConfiguration('world')],
+        output='screen',
+        additional_env={
+            'GAZEBO_MODEL_PATH': f"{pkg_share}/models:" + os.path.expanduser('~/ardupilot_gazebo/models'),
+        }
+    )
+    
+    ardupilot = TimerAction(
+        period=3.0,
+        actions=[
+            ExecuteProcess(
+                cmd=[
+                    'sim_vehicle.py', '-v', 'ArduCopter', '-f', 'gazebo-iris',
+                    '--model', 'JSON', '--map', '--console', '-I0',
+                    '--out', '127.0.0.1:14550',
+                    '--add-param-file', os.path.join(pkg_share, 'config', 'ardupilot_gps_denied.parm')
+                ],
+                cwd=os.path.expanduser('~/ardupilot/ArduCopter'),
+                output='screen'
+            )
+        ]
+    )
+    
+    mavros = TimerAction(
+        period=8.0,
+        actions=[
+            Node(
+                package='mavros',
+                executable='mavros_node',
+                name='mavros',
+                namespace='uav',
+                output='screen',
+                parameters=[
+                    os.path.join(pkg_share, 'config', 'mavros_params.yaml'),
+                    {'fcu_url': 'udp://:14550@127.0.0.1:14555'}
+                ]
+            )
+        ]
+    )
+    
+    visual_odom = TimerAction(
+        period=10.0,
+        actions=[
+            Node(
+                package='uav_ugv_simulation',
+                executable='visual_odom_node',
+                name='visual_odom_node',
+                namespace='uav',
+                output='screen',
+                parameters=[os.path.join(pkg_share, 'config', 'uav_params.yaml')]
+            )
+        ]
+    )
+    
+    uav_controller = TimerAction(
+        period=12.0,
+        actions=[
+            Node(
+                package='uav_ugv_simulation',
+                executable='uav_controller',
+                name='uav_controller',
+                namespace='uav',
+                output='screen',
+                parameters=[os.path.join(pkg_share, 'config', 'uav_params.yaml')]
+            )
+        ]
+    )
+    
+    return LaunchDescription([
+        world_arg,
+        gazebo,
+        ardupilot,
+        mavros,
+        visual_odom,
+        uav_controller,
+    ])