13-diffdrive.launch.py

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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    package_arg = DeclareLaunchArgument('urdf_package',
                                        description='The package where the robot description is located',
                                        default_value='urdf_sim_tutorial')
    model_arg = DeclareLaunchArgument('urdf_package_path',
                                      description='The path to the robot description relative to the package root',
                                      default_value='urdf/13-diffdrive.urdf.xacro')

    rvizconfig_arg = DeclareLaunchArgument(
        name='rvizconfig',
        default_value=PathJoinSubstitution([FindPackageShare('urdf_sim_tutorial'), 'rviz', 'odom_urdf.rviz']),
    )

    gazebo_launch = IncludeLaunchDescription(
        PathJoinSubstitution([FindPackageShare('urdf_sim_tutorial'), 'launch', 'gazebo.launch.py']),
        launch_arguments={
            'urdf_package': LaunchConfiguration('urdf_package'),
            'urdf_package_path': LaunchConfiguration('urdf_package_path')
        }.items(),
    )

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
    )

    load_joint_state_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
             'joint_state_broadcaster'],
        output='screen'
    )
    load_head_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
             'head_controller'],
        output='screen'
    )
    load_gripper_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
             'gripper_controller'],
        output='screen'
    )

    load_dd_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
             'diff_drive_base_controller'],
        output='screen'
    )
    rqt_robot_steering_node = Node(
        package='rqt_robot_steering',
        executable='rqt_robot_steering',
    )
    return LaunchDescription([
        package_arg,
        model_arg,
        rvizconfig_arg,
        gazebo_launch,
        rviz_node,
        load_joint_state_controller,
        load_head_controller,
        load_gripper_controller,
        load_dd_controller,
        rqt_robot_steering_node
    ])