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Merge pull request #273 from JdeRobot/Follow_person_bugs
Follow person bugs
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99 changes: 99 additions & 0 deletions
99
CustomRobots/amazon_hospital/launch/follow_person.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| import os | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription | ||
| from launch.conditions import IfCondition, UnlessCondition | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import Command, LaunchConfiguration, PythonExpression | ||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
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| def generate_launch_description(): | ||
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| # Set the path to the Gazebo ROS package | ||
| pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros') | ||
|
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| # Set the path to the Turtlebot2 ROS package | ||
| pkg_share_dir = FindPackageShare(package='custom_robots').find('custom_robots') | ||
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| # Set Turtlebot2 Arguments | ||
| x_turtlebot2_position = '0' | ||
| y_turtlebot2_position = '10' | ||
| z_turtlebot2_position = '1' | ||
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| declare_x_position_cmd = DeclareLaunchArgument( | ||
| '-x', default_value=x_turtlebot2_position, | ||
| description="Position on the axis x of Turtlebot2" | ||
| ) | ||
| declare_y_position_cmd = DeclareLaunchArgument( | ||
| '-y', default_value=y_turtlebot2_position, | ||
| description="Position on the axis y of Turtlebot2" | ||
| ) | ||
| declare_z_position_cmd = DeclareLaunchArgument( | ||
| '-z', default_value=z_turtlebot2_position, | ||
| description="Position on the axis z of Turtlebot2" | ||
| ) | ||
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| world_name = "hospital_follow_person_followingcam.world" | ||
| current_dir = os.path.join(pkg_share_dir, 'launch') | ||
| world_path = os.path.join(current_dir, world_name) | ||
|
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| # Set the path to the SDF model files | ||
| gazebo_models_path = os.path.join(pkg_share_dir, 'models') | ||
| os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" | ||
|
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| ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## | ||
| # Launch configuration variables specific to simulation | ||
| headless = LaunchConfiguration('headless') | ||
| use_sim_time = LaunchConfiguration('use_sim_time') | ||
| use_simulator = LaunchConfiguration('use_simulator') | ||
| world = LaunchConfiguration('world') | ||
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| declare_simulator_cmd = DeclareLaunchArgument( | ||
| name='headless', | ||
| default_value='False', | ||
| description='Whether to execute gzclient') | ||
|
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| declare_use_sim_time_cmd = DeclareLaunchArgument( | ||
| name='use_sim_time', | ||
| default_value='true', | ||
| description='Use simulation (Gazebo) clock if true') | ||
|
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| declare_use_simulator_cmd = DeclareLaunchArgument( | ||
| name='use_simulator', | ||
| default_value='True', | ||
| description='Whether to start the simulator') | ||
|
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| declare_world_cmd = DeclareLaunchArgument( | ||
| name='world', | ||
| default_value=world_path, | ||
| description='Full path to the world model file to load') | ||
|
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| # Specify the actions | ||
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| # Start Gazebo server | ||
| start_gazebo_server_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), | ||
| condition=IfCondition(use_simulator), | ||
| launch_arguments={'world': world}.items()) | ||
|
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| start_turtlebot2_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(os.path.join(pkg_share_dir, 'launch', 'spawn_model.launch.py')), | ||
| launch_arguments = {'-x': x_turtlebot2_position, '-y': y_turtlebot2_position, '-z': z_turtlebot2_position}.items()) | ||
|
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| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
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| # Declare the launch options | ||
| ld.add_action(declare_simulator_cmd) | ||
| ld.add_action(declare_use_sim_time_cmd) | ||
| ld.add_action(declare_use_simulator_cmd) | ||
| ld.add_action(declare_world_cmd) | ||
| ld.add_action(declare_x_position_cmd) | ||
| ld.add_action(declare_y_position_cmd) | ||
| ld.add_action(declare_z_position_cmd) | ||
|
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| # Add any actions | ||
| ld.add_action(start_gazebo_server_cmd) | ||
| ld.add_action(start_turtlebot2_cmd) | ||
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| return ld |
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