Rajout du spawn de la table dans le launchfile

Ensmasteel · Dec 22, 2023 · 720529e · 720529e
1 parent 1109846
commit 720529e
Show file tree

Hide file tree

Showing 2 changed files with 21 additions and 7 deletions.
diff --git a/src/ezbot_descr_simul/launch/launch_sim.launch.py b/src/ezbot_descr_simul/launch/launch_sim.launch.py
@@ -5,6 +5,9 @@
 
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument
+import launch_ros.actions
+from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 from launch_ros.actions import Node
@@ -35,14 +38,25 @@ def generate_launch_description():
     # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'EzBot'],
+                                   '-entity', 'EzBot',
+                                   '-x','1.0',
+                                   '-y','-1.0',
+                                   '-z', '1.0' ],
                         output='screen')
 
+    #joystick = IncludeLaunchDescription(
+    #            PythonLaunchDescriptionSource([os.path.join(
+    #                   get_package_share_directory(package_name),'launch','joystick.launch.py'
+    #              )]), launch_arguments={'use_sim_time': 'true'}.items())
 
 
     # Launch them all!
     return LaunchDescription([
+        DeclareLaunchArgument(
+            'world',
+            default_value=[os.path.join('ezbot_gazebo','worlds','table2024.world'), ''],
+            description='SDF world file'),
         rsp,
         gazebo,
-        spawn_entity,
+        spawn_entity
     ])
diff --git a/src/ezbot_gazebo/worlds/table2024.world b/src/ezbot_gazebo/worlds/table2024.world
@@ -56,20 +56,20 @@
             <izz>0.166667</izz>
           </inertia>
         </inertial>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>-1 -1 0 0 -0 0</pose>
         <visual name='visual'>
           <pose>0 0 0 0 -0 0</pose>
           <geometry>
             <mesh>
-              <uri>/home/vincent/ezBot/gazebo/Table2024/table2024.dae</uri>
+              <uri>../../../gazebo/Table2024/table2024.dae</uri>
               <scale>1 1 1</scale>
             </mesh>
           </geometry>
           <material>
             <lighting>1</lighting>
             <script>
-              <uri>/home/vincent/ezBot/gazebo/Table2024/materials/scripts</uri>
-              <uri>/home/vincent/ezBot/gazebo/Table2024/materials/textures</uri>
+              <uri>../../../gazebo/Table2024/materials/scripts</uri>
+              <uri>../../../gazebo/Table2024/materials/textures</uri>
               <name>tableMat/Diffuse</name>
               <name>Gazebo/Grey</name>
             </script>
@@ -84,7 +84,7 @@
           <pose>0 0 0 0 -0 0</pose>
           <geometry>
             <mesh>
-              <uri>/home/vincent/ezBot/gazebo/Table2024/table2024.dae</uri>
+              <uri>../../../gazebo/Table2024/table2024.dae</uri>
               <scale>1 1 1</scale>
             </mesh>
           </geometry>