#!/usr/bin/env python3
#
# MIT License

# Copyright (c) 2021 PIC4SeR
# Authors: Enrico Sutera (enricosutera), Mauro Martini(maurom3197)

# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:

# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.

# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
#

# TODO
# add sheel arguments or yaml parameters

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration

ROBOT = "s7b3"
WORLD = "empty"

def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    world_file_name = WORLD + "_" + ROBOT + ".world"
    world = os.path.join(get_package_share_directory('pic4rl'),'gazebo/worlds', world_file_name)
    #launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')

    return LaunchDescription([
        ExecuteProcess(
            cmd=['gzserver', '--verbose', world,
             '-s', 'libgazebo_ros_init.so',
             '-s', 'libgazebo_ros_factory.so'],
            output='screen'),

        #IncludeLaunchDescription(
        #    PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),
        #    launch_arguments={'use_sim_time': use_sim_time}.items(),
        #),
    ])

4b97fcd3d0f13ba47dbcb21b25f56ff03c9440d2
<mask token>

<mask token>


def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    world_file_name = WORLD + '_' + ROBOT + '.world'
    world = os.path.join(get_package_share_directory('pic4rl'),
        'gazebo/worlds', world_file_name)
    return LaunchDescription([ExecuteProcess(cmd=['gzserver', '--verbose',
        world, '-s', 'libgazebo_ros_init.so', '-s',
        'libgazebo_ros_factory.so'], output='screen')])

<mask token>
ROBOT = 's7b3'
WORLD = 'empty'


def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    world_file_name = WORLD + '_' + ROBOT + '.world'
    world = os.path.join(get_package_share_directory('pic4rl'),
        'gazebo/worlds', world_file_name)
    return LaunchDescription([ExecuteProcess(cmd=['gzserver', '--verbose',
        world, '-s', 'libgazebo_ros_init.so', '-s',
        'libgazebo_ros_factory.so'], output='screen')])

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration
ROBOT = 's7b3'
WORLD = 'empty'


def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    world_file_name = WORLD + '_' + ROBOT + '.world'
    world = os.path.join(get_package_share_directory('pic4rl'),
        'gazebo/worlds', world_file_name)
    return LaunchDescription([ExecuteProcess(cmd=['gzserver', '--verbose',
        world, '-s', 'libgazebo_ros_init.so', '-s',
        'libgazebo_ros_factory.so'], output='screen')])

#!/usr/bin/env python3
#
# MIT License

# Copyright (c) 2021 PIC4SeR
# Authors: Enrico Sutera (enricosutera), Mauro Martini(maurom3197)

# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:

# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.

# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
#

# TODO
# add sheel arguments or yaml parameters

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration

ROBOT = "s7b3"
WORLD = "empty"

def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    world_file_name = WORLD + "_" + ROBOT + ".world"
    world = os.path.join(get_package_share_directory('pic4rl'),'gazebo/worlds', world_file_name)
    #launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')

    return LaunchDescription([
        ExecuteProcess(
            cmd=['gzserver', '--verbose', world,
             '-s', 'libgazebo_ros_init.so',
             '-s', 'libgazebo_ros_factory.so'],
            output='screen'),

        #IncludeLaunchDescription(
        #    PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),
        #    launch_arguments={'use_sim_time': use_sim_time}.items(),
        #),
    ])
