mapping_world.launch.py

import launch
from launch.substitutions import Command, LaunchConfiguration
import launch_ros
import os
import sys
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    pkg_share = launch_ros.substitutions.FindPackageShare(package='aroc_truck_description').find('aroc_truck_description')
    default_model_path = os.path.join(pkg_share, 'src/description/aroc_truck_description.urdf')
    default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
    #world_file_name = 'winding_valley.sdf' #Fix wheel displacemente at rough terrains first...
    world_file_name = 'turtlebot.world'  #'test_world.sdf'
    world = os.path.join(pkg_share, 'world', world_file_name)
    #world = os.path.join('/home/autoware-auto-ros1/nav2_ws/src/aroc_truck_description/aroc_truck_description/world', world_file_name)


    robot_state_publisher_node = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
    )
    joint_state_publisher_node = launch_ros.actions.Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        name='joint_state_publisher',
        parameters=[{
            'source_list': ['joint_states']
        }],
        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
    )
    joint_state_publisher_gui_node = launch_ros.actions.Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        parameters=[{'rate': 30.0}],  # Set the update rate of the GUI node (in Hz)
        condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))
    )

    # I have added a custom publisher for the truck's intermediate wheels, since the Ackermann plugin don't include more than frontal and rear wheels (or modify this plugin later to optimize)
    #Or I need to set the joints of these wheels as static otherwise joint_states won't recognize them. Or must have the joint_state_publisher_gui active to publishe these joints values. However
    #if let it active it is going to overhead CPU and the transform from Odom to base_link will be delayed "Old TF transform"
    intermediate_joint_state_publisher_node = launch_ros.actions.Node(
        package='aroc_truck_description',
        executable=sys.executable,
        arguments=[os.path.join(get_package_share_directory('aroc_truck_description'), 'aroc_truck_python', 'intermediate_joint_state_publisher.py')],
        name='intermediate_joint_state_publisher',
        remappings=[('joint_states', 'joint_states')],
        parameters=[{
            'joint_names': ['middle_left_wheel_joint', 'middle_right_wheel_joint',
                            'middle_rear_left_wheel_joint', 'middle_rear_right_wheel_joint',],
            'publish_rate': 30
        }]
    )
    rviz_node = launch_ros.actions.Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
    )

    spawn_entity = launch_ros.actions.Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=['-entity', 'aroc_truck', '-topic', 'robot_description',
        ],
        output='screen'
    )

#     robot_localization_node = launch_ros.actions.Node(
#        package='robot_localization',
#        executable='ekf_node',
#        name='ekf_filter_node',
#        output='screen',
#        parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}]
# )

    return launch.LaunchDescription([
        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                            description='Flag to enable joint_state_publisher_gui'),
        launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                            description='Absolute path to robot urdf file'),
        launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                            description='Absolute path to rviz config file'),
        launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                            description='Flag to enable use_sim_time'),
        launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world], output='screen'),



        joint_state_publisher_node,
        intermediate_joint_state_publisher_node,
        joint_state_publisher_gui_node,
        robot_state_publisher_node,
        spawn_entity,
        #robot_localization_node,
        rviz_node
    ])