From d1e8eeeef345138f46d7d155526c22d05d3dd824 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Wed, 3 Jul 2024 11:41:50 -0700
Subject: [PATCH] fixing gz sim launch file by using gz directly (#4514)

---
 .../launch/cloned_multi_tb3_simulation_launch.py      |  9 ++++-----
 nav2_bringup/launch/tb3_simulation_launch.py          | 11 +++++------
 nav2_bringup/launch/tb4_simulation_launch.py          | 11 +++++------
 ...aunch.py => unique_multi_tb3_simulation_launch.py} |  9 ++++-----
 4 files changed, 18 insertions(+), 22 deletions(-)
 rename nav2_bringup/launch/{unique_multi_tb4_simulation_launch.py => unique_multi_tb3_simulation_launch.py} (97%)

diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
index 54f9d60f80..bd001412d5 100644
--- 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
index cfef103f7b..db1964f955 100644
--- 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
index df98cd930b..463f0c17f3 100644
--- 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/nav2_bringup/launch/unique_multi_tb4_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
similarity index 97%
rename from nav2_bringup/launch/unique_multi_tb4_simulation_launch.py
rename to nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
index 7eaaf1a97d..ae5551d179 100644
--- a/nav2_bringup/launch/unique_multi_tb4_simulation_launch.py
+++ b/nav2_bringup/launch/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=[