From 9bb0eb180b157530410b488c010ebff9b8019d17 Mon Sep 17 00:00:00 2001 From: Andreas Date: Thu, 20 May 2021 13:08:13 +0200 Subject: [PATCH] Launch to gazebo from gzclient and gzserver --- turtlebot3_gazebo/launch/empty_world.launch.py | 10 ++-------- turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py | 8 +------- .../launch/turtlebot3_dqn_stage1.launch.py | 8 +------- .../launch/turtlebot3_dqn_stage2.launch.py | 8 +------- .../launch/turtlebot3_dqn_stage3.launch.py | 8 +------- .../launch/turtlebot3_dqn_stage4.launch.py | 8 +------- turtlebot3_gazebo/launch/turtlebot3_house.launch.py | 8 +------- turtlebot3_gazebo/launch/turtlebot3_world.launch.py | 8 +------- 8 files changed, 9 insertions(+), 57 deletions(-) diff --git a/turtlebot3_gazebo/launch/empty_world.launch.py b/turtlebot3_gazebo/launch/empty_world.launch.py index 8e72b02e..e1804140 100644 --- a/turtlebot3_gazebo/launch/empty_world.launch.py +++ b/turtlebot3_gazebo/launch/empty_world.launch.py @@ -39,17 +39,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - + ExecuteProcess( cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time], output='screen'), diff --git a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py b/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py index ab73a085..ea5edab3 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py index 667efe29..55fc2484 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py index eda96004..3c99639c 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py index db896e4b..a3fe7274 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py index d88fdf9b..f4ca1a45 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), diff --git a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py index ff1366fe..0d9fae18 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(), diff --git a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py index 0cdaed69..105df6fb 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py @@ -38,17 +38,11 @@ def generate_launch_description(): return LaunchDescription([ IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') ), launch_arguments={'world': world}.items(), ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - IncludeLaunchDescription( PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), launch_arguments={'use_sim_time': use_sim_time}.items(),