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 +1,35 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch.substitutions import Command
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory('agv_pro_description')
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'minimal_robot.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
+
+    robot_description = {'robot_description': Command(['xacro ', xacro_file])}
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[robot_description],
+            output='screen'
+        ),
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description', '-entity', 'minimal_bot'],
+            output='screen'
+        )
+    ])