Remove old launchers and worlds

Author: javizqh

Launchers/ackermann_logistic_robot_harmonic/spawn_robot.launch.py

@@ -17,7 +17,7 @@ def generate_launch_description():
 
     gazebo_models_path = os.path.join(package_dir, "models")
 
-    world_file_name = "warehouse1_harmonic.world"
+    world_file_name = "warehouse1.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 

Launchers/amazon_robot_harmonic/spawn_robot.launch.py

@@ -0,0 +1,52 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    world_file_name = "warehouse2.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+
+    ld.add_action(gazebo_server)
+    ld.add_action(world_entity_cmd)
+
+    return ld