added launch file

src/subjugator/simulation/subjugator_bringup/launch/gazebo.launch.py

@@ -0,0 +1,78 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Configure ROS nodes for launch
+
+    # Setup project paths
+    pkg_project_bringup = get_package_share_directory('subjugator_bringup')
+    pkg_project_gazebo = get_package_share_directory('subjugator_gazebo')
+    pkg_project_description = get_package_share_directory('subjugator_description')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    # # Load the SDF file from "description" package
+    # sdf_file  =  os.path.join(pkg_project_description, 'models', 'diff_drive', 'model.sdf')
+    # with open(sdf_file, 'r') as infp:
+    #     robot_desc = infp.read()
+
+    # Setup to launch the simulator and Gazebo world
+    gz_sim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
+        launch_arguments={'gz_args': PathJoinSubstitution([
+            pkg_project_gazebo,
+            'worlds',
+            'robosub_2024.world'
+        ])}.items(),
+    )
+
+    # # Takes the description and joint angles as inputs and publishes the 3D poses of the robot links
+    # robot_state_publisher = Node(
+    #     package='robot_state_publisher',
+    #     executable='robot_state_publisher',
+    #     name='robot_state_publisher',
+    #     output='both',
+    #     parameters=[
+    #         {'use_sim_time': True},
+    #         {'robot_description': robot_desc},
+    #     ]
+    # )
+
+    # # Visualize in RViz
+    # rviz = Node(
+    #    package='rviz2',
+    #    executable='rviz2',
+    #    arguments=['-d', os.path.join(pkg_project_bringup, 'config', 'diff_drive.rviz')],
+    #    condition=IfCondition(LaunchConfiguration('rviz'))
+    # )
+
+    # Bridge ROS topics and Gazebo messages for establishing communication
+    # bridge = Node(
+    #     package='ros_gz_bridge',
+    #     executable='parameter_bridge',
+    #     parameters=[{
+    #         'config_file': os.path.join(pkg_project_bringup, 'config', 'ros_gz_example_bridge.yaml'),
+    #         'qos_overrides./tf_static.publisher.durability': 'transient_local',
+    #     }],
+    #     output='screen'
+    # )
+
+    return LaunchDescription([
+        gz_sim,
+        # DeclareLaunchArgument('rviz', default_value='true',
+        #                       description='Open RViz.'),
+        # bridge,
+        # robot_state_publisher,
+        # rviz
+    ])