fixing gz sim launch file by using gz directly (ros-navigation#4514)

savalena · Jul 3, 2024 · d1e8eee · d1e8eee
1 parent bbd5b7b
commit d1e8eee
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Showing 4 changed files with 18 additions and 22 deletions.
diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -111,11 +111,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -214,12 +214,11 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
-    gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
-        condition=IfCondition(use_simulator))
+    gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+        condition=IfCondition(use_simulator)
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

diff --git a/nav2_bringup/launch/tb4_simulation_launch.py b/nav2_bringup/launch/tb4_simulation_launch.py
@@ -216,12 +216,11 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
-    gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
-        condition=IfCondition(use_simulator))
+    gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+        condition=IfCondition(use_simulator)
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

diff --git a/...nch/unique_multi_tb4_simulation_launch.py → ...nch/unique_multi_tb3_simulation_launch.py b/...nch/unique_multi_tb4_simulation_launch.py → ...nch/unique_multi_tb3_simulation_launch.py
@@ -138,11 +138,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[