From af68c43bb5ce5416dda96b98eaa204c86d02498b Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Wed, 17 Jan 2024 17:00:09 +0100
Subject: [PATCH] Added real robot launch file

---
 .../launch/real_robot.launch.py               | 65 +++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 src/ezbot_descr_simul/launch/real_robot.launch.py

diff --git a/src/ezbot_descr_simul/launch/real_robot.launch.py b/src/ezbot_descr_simul/launch/real_robot.launch.py
new file mode 100644
index 0000000..b1633e5
--- /dev/null
+++ b/src/ezbot_descr_simul/launch/real_robot.launch.py
@@ -0,0 +1,65 @@
+# copyright option3 ensma
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+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
+
+
+
+def generate_launch_description():
+
+
+    # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
+    # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!
+
+    package_name='ezbot_descr_simul' #<--- CHANGE ME
+
+    rsp = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([os.path.join(
+                    get_package_share_directory(package_name),'launch','rsp.launch.py'
+                )]), launch_arguments={'use_sim_time': 'true'}.items()
+    )
+
+    # Include the Gazebo launch file, provided by the gazebo_ros package
+    gazebo = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([os.path.join(
+                    get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),     
+                    launch_arguments={'verbose': 'true'}.items()
+             )
+
+    # 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',
+                                   '-x','1.0',
+                                   '-y','-1.0',
+                                   '-z', '1.0' ],
+                        output='screen')
+
+    joystick = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([os.path.join(
+                       get_package_share_directory("teleop_twist_joy"),'launch','teleop-launch.py'
+                  )]), launch_arguments={'config_filepath': '/home/vincent/joystick.yaml'}.items())
+
+
+    # Launch them all!
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'world',
+            #default_value=[os.path.join('ezbot_gazebo','worlds','table2024.world'), ''],
+            default_value=[os.path.join(get_package_share_directory("ezbot_gazebo"), 'worlds', 'table2024Poteaux.world'), ''],
+            description='SDF world file'),
+        rsp,
+        gazebo,
+        spawn_entity,
+        joystick
+    ])
\ No newline at end of file