add agv_pro_gazebo

2025-06-26 12:02:01 +09:00
parent 23491dad2e
commit 1e40001e4c
25 changed files with 1212 additions and 0 deletions
@@ -0,0 +1,66 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_name = 'agv_pro_description'
+    pkg_dir = get_package_share_directory(pkg_name)
+
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
+    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
+
+    robot_description_content = ParameterValue(
+        Command(['xacro ', xacro_file]),
+        value_type=str
+    )
+    robot_description = {'robot_description': robot_description_content}
+
+    return LaunchDescription([
+        # Launch Gazebo
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+
+        # Spawn robot into Gazebo
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description',
+                       '-entity', 'agv_pro'],
+            output='screen'
+        ),
+
+        # State publisher
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description]
+        ),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher',
+            output='screen',
+        ),
+
+        # Optional: RViz
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+        ),
+    ])