Initial Commit

launch/ugv_only.launch.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+"""UGV-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",
+        }
+    )
+    
+    ugv_spawn = TimerAction(
+        period=3.0,
+        actions=[
+            ExecuteProcess(
+                cmd=[
+                    'ros2', 'run', 'gazebo_ros', 'spawn_entity.py',
+                    '-entity', 'ugv',
+                    '-file', os.path.join(pkg_share, 'models', 'custom_ugv', 'model.sdf'),
+                    '-x', '5.0', '-y', '0.0', '-z', '0.1'
+                ],
+                output='screen'
+            )
+        ]
+    )
+    
+    ugv_controller = TimerAction(
+        period=5.0,
+        actions=[
+            Node(
+                package='uav_ugv_simulation',
+                executable='ugv_controller',
+                name='ugv_controller',
+                namespace='ugv',
+                output='screen',
+                parameters=[os.path.join(pkg_share, 'config', 'ugv_params.yaml')]
+            )
+        ]
+    )
+    
+    return LaunchDescription([
+        world_arg,
+        gazebo,
+        ugv_spawn,
+        ugv_controller,
+    ])