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GZ spawn positions #91

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99ed6f0
custom spawn positions arguments for gz
Aug 5, 2025
bff54aa
removed unused libraries
Aug 5, 2025
61f4651
origin z spawn position
Aug 5, 2025
bb9158f
removed IfCondition library
Aug 5, 2025
95fc0ef
xterm to originally 'False'
Aug 5, 2025
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52 changes: 47 additions & 5 deletions rox_bringup/launch/bringup_sim_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@
from param_file_utils import generate_final_yaml
import os
from pathlib import Path
import xacro

def execution_stage(context: LaunchContext,
rox_type,
Expand All @@ -24,7 +23,9 @@ def execution_stage(context: LaunchContext,
scanner_type,
ur_dc,
gripper_type,
headless_sim):
headless_sim,
spawn_x, spawn_y, spawn_z,
spawn_R, spawn_P, spawn_Y):

launch_actions = []

Expand All @@ -48,7 +49,9 @@ def execution_stage(context: LaunchContext,
joint_type = "revolute"

# Getting the robot description xacro
urdf = os.path.join(get_package_share_directory('rox_description'), 'urdf', 'rox.urdf.xacro')
urdf = os.path.join(get_package_share_directory('rox_description'),
'urdf',
'rox.urdf.xacro')

spawn_robot = Node(
package='ros_gz_sim',
Expand All @@ -57,7 +60,15 @@ def execution_stage(context: LaunchContext,
output='screen',
arguments=[
'-topic', "robot_description",
'-name', "rox"])
'-name', "rox",
'-x', spawn_x.perform(context),
'-y', spawn_y.perform(context),
'-z', spawn_z.perform(context),
'-R', spawn_R.perform(context),
'-P', spawn_P.perform(context),
'-Y', spawn_Y.perform(context)
]
)

# Define gz_args based on headless_simulation argument
gz_args = f"-r {default_world_path}"
Expand Down Expand Up @@ -239,6 +250,25 @@ def execution_stage(context: LaunchContext,

def generate_launch_description():

declare_spawn_x_cmd = DeclareLaunchArgument(
'spawn_x', default_value='0.0', description='Initial X position of the robot in gz'
)
declare_spawn_y_cmd = DeclareLaunchArgument(
'spawn_y', default_value='0.0', description='Initial Y position of the robot in gz'
)
declare_spawn_z_cmd = DeclareLaunchArgument(
'spawn_z', default_value='0.0', description='Initial Z position of the robot in gz'
)
declare_spawn_R_cmd = DeclareLaunchArgument(
'spawn_R', default_value='0.0', description='Initial roll of the robot in gz'
)
declare_spawn_P_cmd = DeclareLaunchArgument(
'spawn_P', default_value='0.0', description='Initial pitch of the robot in gz'
)
declare_spawn_Y_cmd = DeclareLaunchArgument(
'spawn_Y', default_value='0.0', description='Initial yaw of the robot in gz'
)

declare_rox_type_cmd = DeclareLaunchArgument(
'rox_type',default_value='argo',
choices = ['', 'argo', 'argo-trio', 'diff', 'trike'],
Expand Down Expand Up @@ -293,7 +323,13 @@ def generate_launch_description():
LaunchConfiguration('scanner_type'),
LaunchConfiguration('use_ur_dc'),
LaunchConfiguration('gripper_type'),
LaunchConfiguration('headless_simulation')
LaunchConfiguration('headless_simulation'),
LaunchConfiguration('spawn_x'),
LaunchConfiguration('spawn_y'),
LaunchConfiguration('spawn_z'),
LaunchConfiguration('spawn_R'),
LaunchConfiguration('spawn_P'),
LaunchConfiguration('spawn_Y'),
])

ld = LaunchDescription([
Expand All @@ -305,6 +341,12 @@ def generate_launch_description():
declare_ur_pwr_variant_cmd,
declare_gripper_type_cmd,
declare_headless_sim_cmd,
declare_spawn_x_cmd,
declare_spawn_y_cmd,
declare_spawn_z_cmd,
declare_spawn_R_cmd,
declare_spawn_P_cmd,
declare_spawn_Y_cmd,
opq_function
])
return ld