fix gazebo launch to work with ros2-jazzy and gzebo harmonic

Signed-off-by: Eliyas Kidanemariam <star@star.home>

Author: star

nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py

@@ -1,82 +1,83 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 import os
 
 from ament_index_python.packages import get_package_share_directory
-
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess, SetEnvironmentVariable
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration
 from launch_ros.actions import Node
+from ros_gz_bridge.actions import RosGzBridge
+from ros_gz_sim.actions import GzServer
 
 
 def generate_launch_description():
-    # Get the launch directory
-    gps_wpf_dir = get_package_share_directory(
-        "nav2_gps_waypoint_follower_demo")
-    launch_dir = os.path.join(gps_wpf_dir, 'launch')
-    world = os.path.join(gps_wpf_dir, "worlds", "sonoma_raceway.world")
-
-    urdf = os.path.join(gps_wpf_dir, 'urdf', 'turtlebot3_waffle_gps.urdf')
-    with open(urdf, 'r') as infp:
-        robot_description = infp.read()
-
-    models_dir = os.path.join(gps_wpf_dir, "models")
-    models_dir += os.pathsep + \
-        f"/opt/ros/{os.getenv('ROS_DISTRO')}/share/turtlebot3_gazebo/models"
-    set_gazebo_model_path_cmd = None
-
-    if 'GAZEBO_MODEL_PATH' in os.environ:
-        gazebo_model_path = os.environ['GAZEBO_MODEL_PATH'] + \
-            os.pathsep + models_dir
-        set_gazebo_model_path_cmd = SetEnvironmentVariable(
-            "GAZEBO_MODEL_PATH", gazebo_model_path)
-    else:
-        set_gazebo_model_path_cmd = SetEnvironmentVariable(
-            "GAZEBO_MODEL_PATH", models_dir)
-
-    set_tb3_model_cmd = SetEnvironmentVariable("TURTLEBOT3_MODEL", "waffle")
-
-    # Specify the actions
-    start_gazebo_server_cmd = ExecuteProcess(
-        cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
-             '-s', 'libgazebo_ros_factory.so', world],
-        cwd=[launch_dir], output='both')
-
-    start_gazebo_client_cmd = ExecuteProcess(
-        cmd=['gzclient'],
-        cwd=[launch_dir], output='both')
-
-    start_robot_state_publisher_cmd = Node(
+    world_pkg_share =  get_package_share_directory('nav2_gps_waypoint_follower_demo')
+    robot_pkg_share = get_package_share_directory('sam_bot_description')
+    ros_gz_sim_share = get_package_share_directory('ros_gz_sim')
+    gz_spawn_model_launch_source = os.path.join(ros_gz_sim_share, "launch", "gz_spawn_model.launch.py")
+    default_model_path = os.path.join(robot_pkg_share, 'src', 'description', 'sam_bot_description.sdf')
+    world_path = os.path.join(world_pkg_share, 'worlds', 'sonoma_world.sdf')
+    bridge_config_path = os.path.join(robot_pkg_share, 'config', 'bridge_config.yaml')
+
+    robot_state_publisher_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
-        name='robot_state_publisher',
-        output='both',
-        parameters=[{'robot_description': robot_description}])
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Set gazebo up to find models properly
-    ld.add_action(set_gazebo_model_path_cmd)
-    ld.add_action(set_tb3_model_cmd)
-
-    # simulator launch
-    ld.add_action(start_gazebo_server_cmd)
-    ld.add_action(start_gazebo_client_cmd)
-
-    # robot state publisher launch
-    ld.add_action(start_robot_state_publisher_cmd)
-
-    return ld
+        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}, {'use_sim_time': LaunchConfiguration('use_sim_time')}]
+    )
+  
+    gz_server = GzServer(
+        world_sdf_file=world_path,
+        container_name='ros_gz_container',
+        create_own_container='True',
+        use_composition='True',
+    )
+    ros_gz_bridge = RosGzBridge(
+        bridge_name='ros_gz_bridge',
+        config_file=bridge_config_path,
+        container_name='ros_gz_container',
+
+        create_own_container='False',
+        use_composition='True',
+    )
+    camera_bridge_image = Node(
+        package='ros_gz_image',
+        executable='image_bridge',
+        name='bridge_gz_ros_camera_image',
+        output='screen',
+        parameters=[{'use_sim_time': True}],
+        arguments=['/depth_camera/image'],
+    )
+    camera_bridge_depth = Node(
+        package='ros_gz_image',
+        executable='image_bridge',
+        name='bridge_gz_ros_camera_depth',
+        output='screen',
+        parameters=[{'use_sim_time': True}],
+        arguments=['/depth_camera/depth_image'],
+    )
+    spawn_entity = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(gz_spawn_model_launch_source),
+        launch_arguments={
+            'world': 'my_world',
+            'topic': '/robot_description',
+            'entity_name': 'sam_bot',
+            'x': '2.0',     # meters
+            'y': '-2.5',
+            'z': '0.65',
+            'R': '0.0',     # roll (radians)
+            'P': '0.0',     # pitch
+            'Y': '0.0',    # yaw
+        }.items(),
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(name='model', default_value=default_model_path, description='Absolute path to robot model file'),
+        DeclareLaunchArgument(name='use_sim_time', default_value='True', description='Flag to enable use_sim_time'),
+        ExecuteProcess(cmd=['gz', 'sim', '-g'], output='screen'),
+        robot_state_publisher_node,
+        gz_server,
+        ros_gz_bridge,
+        camera_bridge_image,
+        camera_bridge_depth,
+        spawn_entity,
+    ])

nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
 
     declare_use_rviz_cmd = DeclareLaunchArgument(
         'use_rviz',
-        default_value='False',
+        default_value='true',
         description='Whether to start RVIZ')
 
     declare_use_mapviz_cmd = DeclareLaunchArgument(