add Gazebo world file with actors

Author: anurye

drl_agent_bringup/CMakeLists.txt

@@ -29,6 +29,7 @@ install(
  config
  launch
  scripts
+ models
  worlds
  DESTINATION
  share/${PROJECT_NAME}/

drl_agent_bringup/config/gazebo_params.yaml

@@ -4,8 +4,9 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from ament_index_python.packages import get_package_prefix
 
@@ -15,22 +16,28 @@
  choices=['true', 'false'],
  description='Whether or not to launch gzclient'),
  DeclareLaunchArgument('world_path',
- default_value=[os.path.join(get_package_share_directory('drl_agent_bringup'), 'worlds', 'TD3.world')],
+ default_value=[os.path.join(get_package_share_directory('drl_agent_bringup'), 'worlds', 'td7.world')],
  description='SDF world file'),
 ]
 
 
 def generate_launch_description():
 
- # Get packages description and directory
+ """*************************************************************************************
+ ** Get package share directories
+ *************************************************************************************"""
  drl_agent_bringup_package_name = 'drl_agent_bringup'
  drl_agent_description_package_name = 'drl_agent_description'
  velodyne_description_package_name = 'velodyne_description'
  drl_agent_bringup_package_directory = get_package_share_directory(drl_agent_bringup_package_name)
  drl_agent_description_package_directory = get_package_share_directory(drl_agent_description_package_name)
  velodyne_description_package_directory = get_package_share_directory(velodyne_description_package_name)
+ gazebo_ros_package_directory = get_package_share_directory('gazebo_ros')
 
- # Set the Path to mesh models. NOTE: should be done before gazebo is 1st launched.
+ """*************************************************************************************
+ ** Set the Path to mesh models. NOTE: should be done before gazebo is 1st launched.
+ *************************************************************************************"""
+ drl_agent_bringup_install_dir_path = (get_package_prefix(drl_agent_bringup_package_name) + '/share')
  drl_agent_install_dir_path = (get_package_prefix(drl_agent_description_package_name) + '/share')
  velodyne_description_install_dir_path = (get_package_prefix(velodyne_description_package_name) + '/share')
 
@@ -39,7 +46,7 @@ def generate_launch_description():
  drl_agent_description_models_path = os.path.join(drl_agent_description_package_directory, 'models')
  drl_agent_bringup_models_path = os.path.join(drl_agent_bringup_package_directory, 'models')
 
- gazebo_resource_paths = [drl_agent_install_dir_path, robot_meshes_path, drl_agent_description_models_path,\
+ gazebo_resource_paths = [drl_agent_bringup_install_dir_path, drl_agent_install_dir_path, robot_meshes_path, drl_agent_description_models_path,\
  drl_agent_bringup_models_path, velodyne_description_install_dir_path, velodyne_description_meshes_path]
  if 'GAZEBO_MODEL_PATH' in os.environ:
  for resource_path in gazebo_resource_paths:
@@ -57,31 +64,30 @@ def generate_launch_description():
  # print(str(os.environ['GAZEBO_PLUGIN_PATH']))
  print(border)
 
- # Launch configurations
+ """*************************************************************************************
+ Launch configurations and gazebo launch
+ *************************************************************************************"""
  world_path = LaunchConfiguration('world_path')
  use_gazebo_gui = LaunchConfiguration('use_gazebo_gui')
 
- # Gazebo server
- gazebo_params_yaml_file = os.path.join(
- drl_agent_bringup_package_directory, 'config', 'gazebo_params.yaml')
- gzserver = ExecuteProcess(
- cmd=['gzserver',
- '-s', 'libgazebo_ros_init.so',
- '-s', 'libgazebo_ros_factory.so',
- world_path,
- 'extra-gazebo-args', '--ros-args', '--params-file', gazebo_params_yaml_file],
- output='screen',
+ gzserver_cmd = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(gazebo_ros_package_directory, 'launch', 'gzserver.launch.py')
+ ),
+ launch_arguments=[
+ ('world', world_path),
+ ]
  )
 
- # Gazebo client
- gzclient = ExecuteProcess(
- cmd=['gzclient'],
- output='screen',
- condition=IfCondition(use_gazebo_gui),
+ gzclient_cmd = IncludeLaunchDescription(
+  PythonLaunchDescriptionSource(
+  os.path.join(gazebo_ros_package_directory, 'launch', 'gzclient.launch.py')
+ ),
+ condition=IfCondition(use_gazebo_gui)
  )
 
  ld = LaunchDescription(ARGUMENTS)
- ld.add_action(gzserver)
- ld.add_action(gzclient)
+ ld.add_action(gzserver_cmd)
+ ld.add_action(gzclient_cmd)
 
  return ld