added launcher for drone gymkhana exercise

Author: Arcane-01

Launchers/drone_gymkhana.launch.py

@@ -0,0 +1,81 @@
+"""Entry point for the Drone Gymkhana exercise."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """Generate the launch description for drone gymkhana simulation."""
+    custom_robots_share = get_package_share_directory("custom_robots")
+    # same bridges file as rescue_people exercise
+    bridges_path = os.path.join(custom_robots_share, "bridges", "rescue_people.yaml")
+    world_path = os.path.join(
+        custom_robots_share, "worlds", "drone_gymkhana_harmonic.world"
+    )
+
+    # YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE #
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        name="use_simulator",
+        default_value="True",
+        description="Whether to start the simulator",
+    )
+
+    # Start Gazebo server
+    gzsim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                os.path.join(get_package_share_directory("jderobot_drones"), "launch"),
+                "/gz_sim.launch.py",
+            ]
+        ),
+        condition=IfCondition(LaunchConfiguration("use_simulator")),
+        launch_arguments={
+            "namespace": "drone0",
+            "bridges_file": bridges_path,
+            "world_file": world_path,
+        }.items(),
+    )
+
+    as2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                os.path.join(get_package_share_directory("jderobot_drones"), "launch"),
+                "/as2_default_gazebo_sim.launch.py",
+            ]
+        ),
+        launch_arguments={
+            "namespace": "drone0",
+        }.items(),
+    )
+
+    start_gazebo_frontal_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/drone0/frontal_cam/image_raw"],
+        output="screen",
+    )
+
+    start_gazebo_ventral_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/drone0/ventral_cam/image_raw"],
+        output="screen",
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(gzsim)
+    ld.add_action(as2)
+    ld.add_action(start_gazebo_frontal_image_bridge_cmd)
+    ld.add_action(start_gazebo_ventral_image_bridge_cmd)
+
+    return ld