Refactoring Launch FIles

src/igvc_description/launch/publisher.launch.py

@@ -2,105 +2,93 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
-
+  declared_arguments = []
   # Set the path to this package.
   igvc_description_package  = FindPackageShare(package='igvc_description').find('igvc_description')
+  default_urdf = PathJoinSubstitution(
+    [
+      igvc_description_package,
+      'urdf',
+      'robot.urdf.xacro'
+    ]
+  )
+
+
+  declared_arguments.append( 
+      DeclareLaunchArgument(
+          'urdf_model',
+          default_value=default_urdf,
+          description='Absolute path to robot urdf file'
+      )
+  )
+  declared_arguments.append(
+      DeclareLaunchArgument(
+          'gui',
+          default_value='False',
+          description='Flag to enable joint_state_publisher_gui'
+      )
+  )         
 
-  # Set the path to the URDF file
-  default_urdf_model_path = os.path.join(igvc_description_package , 'urdf/robot.urdf.xacro')
+  declared_arguments.append(
+      DeclareLaunchArgument(
+          'use_robot_state_pub',
+          default_value='True',
+          description='Whether to start the robot state publisher'
+      )
+  )
+  declared_arguments.append(
+      DeclareLaunchArgument(
+          'use_sim_time',
+          default_value='False',
+          description='Use simulation (Gazebo) clock if true'
+      )
+  )
 
-  # Launch configuration variables specific to simulation
-  gui = LaunchConfiguration('gui')
   urdf_model = LaunchConfiguration('urdf_model')
+  gui = LaunchConfiguration('gui')
   use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
   use_sim_time = LaunchConfiguration('use_sim_time')
 
-  # Declare the launch arguments  
-  declare_urdf_model_path_cmd = DeclareLaunchArgument(
-    name='urdf_model', 
-    default_value=default_urdf_model_path, 
-    description='Absolute path to robot urdf file')
-
-  declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
-    name='gui',
-    default_value='False',
-    description='Flag to enable joint_state_publisher_gui')
-
-  declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
-    name='use_robot_state_pub',
-    default_value='True',
-    description='Whether to start the robot state publisher')
 
-  declare_use_sim_time_cmd = DeclareLaunchArgument(
-    name='use_sim_time',
-    default_value='False',
-    description='Use simulation (Gazebo) clock if true')
-
-  # Specify the actions
-
-  # Publish the joint state values for the non-fixed joints in the URDF file.
-  start_joint_state_publisher_cmd = Node(
-    condition=UnlessCondition(gui),
-    package='joint_state_publisher',
-    executable='joint_state_publisher',
-    name='joint_state_publisher')
-
-  # A GUI to manipulate the joint state values
-  start_joint_state_publisher_gui_node = Node(
-    condition=IfCondition(gui),
-    package='joint_state_publisher_gui',
-    executable='joint_state_publisher_gui',
-    name='joint_state_publisher_gui')
-  # Subscribe to the joint states of the robot, and publish the 3D pose of each link.
-  start_robot_state_publisher_cmd = Node(
-    condition=IfCondition(use_robot_state_pub),
-    package='robot_state_publisher',
-    executable='robot_state_publisher',
-    parameters=[{'use_sim_time': use_sim_time, 
-    'robot_description': Command(
-      [
-        'xacro ', urdf_model,
-        ' use_mock_hardware:=', LaunchConfiguration('use_mock_hardware')
-       ]
-      ),
-    }],
+  joint_state_publisher_node = Node(
+      package='joint_state_publisher',
+      executable='joint_state_publisher',
+      name='joint_state_publisher',
+      condition=UnlessCondition(gui)
     )
-
-  # Create foxglove bridge
-  start_foxglove_bridge_cmd = Node(
-    package='foxglove_bridge',
-    executable='foxglove_bridge'
-  )
-
-  # Create the launch description and populate
-  # Create the launch description and populate
-  launch_description = LaunchDescription(
-    [
-        DeclareLaunchArgument(
-            'use_mock_hardware',
-            default_value='false',
-            description='Run in Simulation'
-        ),
-
-    ]
+  joint_state_publisher_gui_node = Node(
+      package='joint_state_publisher_gui',
+      executable='joint_state_publisher_gui',
+      name='joint_state_publisher_gui',
+      condition=IfCondition(gui)
+    )
+
+  robot_state_publisher_node = Node(
+      package='robot_state_publisher',
+      executable='robot_state_publisher',
+      name='robot_state_publisher',
+      parameters=[{'use_sim_time': use_sim_time,
+      'robot_description': Command([
+          'xacro ', urdf_model,
+          'use_mock_hardware:=', LaunchConfiguration('use_mock_hardware')
+        ]
+        )
+      }]
+      )
+  foxglove_bridge_node = Node(
+      package='foxglove_bridge',
+      executable='foxglove_bridge'
   )
+  Nodes = [
+      joint_state_publisher_node,
+      joint_state_publisher_gui_node,
+      robot_state_publisher_node,
+      foxglove_bridge_node]
 
+  return LaunchDescription(declared_arguments + Nodes)
 
-  # Declare the launch options
-  launch_description.add_action(declare_urdf_model_path_cmd)
-  launch_description.add_action(declare_use_joint_state_publisher_cmd)
-  launch_description.add_action(declare_use_robot_state_pub_cmd)  
-  launch_description.add_action(declare_use_sim_time_cmd)
-
-  # Add any actions
-  launch_description.add_action(start_foxglove_bridge_cmd)
-  launch_description.add_action(start_joint_state_publisher_cmd)
-  launch_description.add_action(start_joint_state_publisher_gui_node)
-  launch_description.add_action(start_robot_state_publisher_cmd)
-
-  return launch_description

src/igvc_description/launch/rviz.launch.py

@@ -8,20 +8,81 @@
 from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
-
+  declared_arguments = []
   # Set the path to this package.
   igvc_description_package = FindPackageShare(package='igvc_description').find('igvc_description')
-
-  # Set the path to the RViz configuration settings
   default_rviz_config_path = os.path.join(igvc_description_package, 'rviz/rviz_settings.rviz')
-
-  # Set the path to the URDF file
   default_urdf_model_path = os.path.join(igvc_description_package, 'urdf/robot.urdf.xacro')
-
-  # Set the path to the Publisher launch file
   publisher_launch_path = os.path.join(igvc_description_package, 'launch/publisher.launch.py')
 
-  # Launch configuration variables specific to simulation
+  declared_arguments.append(
+    DeclareLaunchArgument(
+      'urdf_model',
+      default_value=default_urdf_model_path,
+      description='Absolute path to robot urdf file'
+    )
+  )
+  declared_arguments.append(
+    DeclareLaunchArgument(
+      'gui',
+      default_value='True',
+      description='Flag to enable joint_state_publisher_gui'
+    )
+  )
+  declared_arguments.append(
+    DeclareLaunchArgument(
+      'use_robot_state_pub',
+      default_value='True',
+      description='Whether to start the robot state publisher'
+    )
+  )
+  declared_arguments.append(
+    DeclareLaunchArgument(
+      'use_sim_time',
+      default_value='True',
+      description='Use simulation (Gazebo) clock if true'
+    )
+  )
+  declared_arguments.append(
+    DeclareLaunchArgument(
+      'rviz_config_file',
+      default_value=default_rviz_config_path,
+      description='Full path to the RVIZ config file to use'
+    )
+  )
+  declared_arguments.append(
+    DeclareLaunchArgument(
+      'use_rviz',
+      default_value='true',
+      description='Whether to start RVIZ'
+    )
+  )
+  urdf_model = LaunchConfiguration('urdf_model')
+  gui = LaunchConfiguration('gui')
+  use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+  use_sim_time = LaunchConfiguration('use_sim_time')
+  rviz_config_file = LaunchConfiguration('rviz_config_file')
+  use_rviz = LaunchConfiguration('use_rviz')
+
+
+
+  rviz_node = Node(
+    package='rviz2',
+    executable='rviz2',
+    name='rviz2',
+    condition=IfCondition(use_rviz),
+    output='screen',
+    arguments=['-d', rviz_config_file]
+  )
+  Node = [
+    rviz_node
+  ]
+  return LaunchDescription(declared_arguments + Node)
+
+
+
+"""
+ # Launch configuration variables specific to simulation
   gui = LaunchConfiguration('gui')
   urdf_model = LaunchConfiguration('urdf_model')
   rviz_config_file = LaunchConfiguration('rviz_config_file')
@@ -59,7 +120,7 @@ def generate_launch_description():
     name='use_sim_time',
     default_value='True',
     description='Use simulation (Gazebo) clock if true')
-
+    
   # Specify the publisher action
   start_publisher_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(publisher_launch_path),
@@ -70,7 +131,6 @@ def generate_launch_description():
           'use_sim_time' : use_sim_time,
         }.items()
     )
-
   # Launch RViz
   start_rviz_cmd = Node(
     condition=IfCondition(use_rviz),
@@ -80,7 +140,7 @@ def generate_launch_description():
     output='screen',
     arguments=['-d', rviz_config_file])
 
-  # Create the launch description and populate
+   # Create the launch description and populate
   launch_description = LaunchDescription()
 
   # Declare the launch options
@@ -96,3 +156,4 @@ def generate_launch_description():
   launch_description.add_action(start_rviz_cmd)
 
   return launch_description
+"""

src/igvc_gazebo/launch/empty_world.launch.py

@@ -1,47 +1,44 @@
 import os
-
 from ament_index_python.packages import get_package_share_directory
-
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.substitutions import FindPackageShare
-
 from launch_ros.actions import Node
 
 def generate_launch_description():
+    declared_arguments = []
+    igvc_description_package = FindPackageShare(package='igvc_description').find('igvc_description')
     ros_gz_sim_package = get_package_share_directory('ros_gz_sim')
-    package_description = FindPackageShare(package='igvc_description').find('igvc_description')
-
     gz_launch_path = os.path.join(ros_gz_sim_package, 'launch', 'gz_sim.launch.py')
-
     world = LaunchConfiguration('world')
-
-    default_world = os.path.join(
-        get_package_share_directory('igvc_gazebo'),
-        'worlds',
-        'empty_world.sdf'
-    )
-
-    world_arg = DeclareLaunchArgument(
-        'world',
-        default_value=default_world,
-        description='World to load'
+    bridge_params = os.path.join(get_package_share_directory('igvc_gazebo'), 'config', 'gz_bridge.yaml')
+    default_world = os.path.join(get_package_share_directory('igvc_gazebo'), 'worlds','empty_world.sdf')
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            'world',
+            default_value=default_world,
+            description='World to load'
+        )
     )
-
-    gazebo = IncludeLaunchDescription(
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            'gazebo',
             PythonLaunchDescriptionSource(gz_launch_path),
             launch_arguments={'gz_args': ['-r -v4 ', world], 'on_exit_shutdown': 'true'}.items()
         )
+    )
 
-    spawn_entity = Node(package='ros_gz_sim', executable='create',
+
+    spawn_entity = Node(
+        package='ros_gz_sim', executable='create',
         arguments=['-topic', 'robot_description',
                     '-name', 'igvc_robot'],
         output='screen'
     )
 
-    bridge_params = os.path.join(get_package_share_directory('igvc_gazebo'), 'config', 'gz_bridge.yaml')
 
     ros_gz_bridge = Node(
         package="ros_gz_bridge",
@@ -52,10 +49,11 @@ def generate_launch_description():
             f'config_file:={bridge_params}',
         ]
     )
-
-    return LaunchDescription([
-        world_arg,
-        gazebo,
+    Node = [
         spawn_entity,
         ros_gz_bridge
-    ])
+    ]
+    return LaunchDescription(declared_arguments + Node)  
+
+
+