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fix: correcciones para ejecutar simulación en Jazzy #65

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28bc311
fix: correcciones para ejecutar simulación en Jazzy
Mar 25, 2026
cc26cee
arreglado fallo mapping autostart
Jcrex-Robotnik Mar 27, 2026
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193 changes: 117 additions & 76 deletions common/robotnik_simulation_bringup/launch/bringup_complete.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,163 +24,204 @@
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import GroupAction, DeclareLaunchArgument, IncludeLaunchDescription
from launch.actions import (
DeclareLaunchArgument,
GroupAction,
IncludeLaunchDescription,
TimerAction,
)
from launch.conditions import IfCondition
from launch.actions import TimerAction
from launch.substitutions import EqualsSubstitution, OrSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import (
EqualsSubstitution,
LaunchConfiguration,
OrSubstitution,
PathJoinSubstitution,
)
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():

declared_arguments = [
DeclareLaunchArgument(
"robot_id",
default_value="robot",
description="Name for launch and config resources"
description="Name for launch and config resources",
),
DeclareLaunchArgument(
"robot",
default_value="rbsummit",
description="Robot Model Name",
),
DeclareLaunchArgument(
"robot_model",
default_value="rbsummit",
description="Set robot model"
description="Set robot model",
),
DeclareLaunchArgument(
"use_gui",
default_value="true",
description="Enable simulation gui"
description="Enable simulation gui",
),
DeclareLaunchArgument(
"low_performance_simulation",
default_value="true",
description="Enable smooth simulation for low performance computers"
description="Enable smooth simulation for low performance computers",
),
DeclareLaunchArgument(
"use_rviz",
default_value="true",
description="Enable rviz gui"
description="Enable rviz gui",
),
DeclareLaunchArgument(
"world_path",
default_value=PathJoinSubstitution([
#FindPackageShare('electrical_substation_world'), 'worlds/electrical_substation.world'
FindPackageShare('robotnik_gazebo_ignition'), 'worlds/demo.world',
]),
description="Path to the world file"
default_value=PathJoinSubstitution(
[
# FindPackageShare('electrical_substation_world'), 'worlds/electrical_substation.world'
FindPackageShare("robotnik_gazebo_ignition"),
"worlds/demo.world",
]
),
description="Path to the world file",
),
DeclareLaunchArgument(
"has_arm",
default_value="false",
description="Enable Arm Controller",
),
]

robot_id = LaunchConfiguration("robot_id")
robot = LaunchConfiguration("robot")
robot_model = LaunchConfiguration("robot_model")
use_gui = LaunchConfiguration("use_gui")
low_performance_simulation = LaunchConfiguration("low_performance_simulation")
world_path = LaunchConfiguration("world_path")
use_rviz = LaunchConfiguration("use_rviz")
has_arm = LaunchConfiguration("has_arm")

gazebo_world = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_gazebo_ignition'), 'launch/spawn_world.launch.py'
])
PathJoinSubstitution(
[
FindPackageShare("robotnik_gazebo_ignition"),
"launch/spawn_world.launch.py",
]
)
),
launch_arguments={
'robot_id': robot_id,
'gui': use_gui,
'world_path': world_path
}.items()
"robot_id": robot_id,
"gui": use_gui,
"world_path": world_path,
}.items(),
)

gazebo_robot = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_gazebo_ignition'), 'launch/spawn_robot.launch.py'
])
PathJoinSubstitution(
[
FindPackageShare("robotnik_gazebo_ignition"),
"launch/spawn_robot.launch.py",
]
)
),
launch_arguments={
'robot_id': robot_id,
'robot': robot_model,
'low_performance_simulation': low_performance_simulation,
'run_rviz': 'false'
}.items()
"robot_id": robot_id,
"robot": robot,
"robot_model": robot_model,
"low_performance_simulation": low_performance_simulation,
"run_rviz": "false",
"has_arm": has_arm,
}.items(),
)
delayed_spawn_robot = TimerAction(period=5.0, actions=[gazebo_robot])

# In spawn_robot.launch.py the add_laser("front") is defined for any robot model
# This causes two publishers to /robot/front_laser/scan when laser filters are enabled
# In rbsummit and rbwatcher is not an issue because front laser is not available
# but in other robot models that have front laser, it causes conflict.
laser_filters = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_bringup'), 'launch/laser_filters.launch.py'
])
PathJoinSubstitution(
[
FindPackageShare("robotnik_simulation_bringup"),
"launch/laser_filters.launch.py",
]
)
),
launch_arguments={
'robot_id': robot_id,
'use_sim': 'true',
"robot_id": robot_id,
"use_sim": "true",
}.items(),
condition=IfCondition(
OrSubstitution(
EqualsSubstitution(robot_model, 'rbsummit'),
EqualsSubstitution(robot_model, 'rbwatcher'),
EqualsSubstitution(robot_model, "rbsummit"),
EqualsSubstitution(robot_model, "rbwatcher"),
)
)
),
)
delayed_laser_filters = TimerAction(period=6.0, actions=[laser_filters])

localization = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_localization'), 'launch/localization.launch.py'
])
PathJoinSubstitution(
[
FindPackageShare("robotnik_simulation_localization"),
"launch/localization.launch.py",
]
)
),
launch_arguments={
'robot_id': robot_id,
'use_sim': 'true',
}.items()
"robot_id": robot_id,
"use_sim": "true",
}.items(),
)

delayed_localization = TimerAction(
period=10.0,
actions=[localization]
)
delayed_localization = TimerAction(period=10.0, actions=[localization])

navigation = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_navigation'), 'launch/navigation.launch.py'
])
PathJoinSubstitution(
[
FindPackageShare("robotnik_simulation_navigation"),
"launch/navigation.launch.py",
]
)
),
launch_arguments={
'robot_id': robot_id,
'use_sim': 'true',
}.items()
"robot_id": robot_id,
"use_sim": "true",
}.items(),
)

delayed_navigation = TimerAction(
period=15.0,
actions=[navigation]
)
delayed_navigation = TimerAction(period=15.0, actions=[navigation])

rviz = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('robotnik_simulation_bringup'), 'launch/rviz.launch.py'
])
PathJoinSubstitution(
[
FindPackageShare("robotnik_simulation_bringup"),
"launch/rviz.launch.py",
]
)
),
condition=IfCondition(use_rviz)
condition=IfCondition(use_rviz),
)

delayed_rviz = TimerAction(
period=20.0,
actions=[rviz]
)
delayed_rviz = TimerAction(period=20.0, actions=[rviz])

group = GroupAction([
gazebo_world,
gazebo_robot,
laser_filters,
delayed_localization,
delayed_navigation,
delayed_rviz
])
group = GroupAction(
[
gazebo_world,
delayed_spawn_robot,
delayed_laser_filters,
# gazebo_robot,
# laser_filters,
delayed_localization,
delayed_navigation,
delayed_rviz,
]
)

return LaunchDescription(declared_arguments + [group])
return LaunchDescription(declared_arguments + [group])
1 change: 1 addition & 0 deletions common/robotnik_simulation_localization/launch/localization.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ def generate_launch_description():
'robot_id': robot_id,
'use_sim': use_sim,
}.items(),
condition=IfCondition(run_mapping)
)

group = GroupAction([
Expand Down
2 changes: 1 addition & 1 deletion common/robotnik_simulation_localization/launch/localization_2d.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,4 +95,4 @@ def generate_launch_description():
lifecycle_manager_localization,
])

return LaunchDescription([group])
return LaunchDescription([group])
2 changes: 1 addition & 1 deletion common/robotnik_simulation_localization/launch/mapping_2d.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,4 +91,4 @@ def generate_launch_description():
lifecycle_manager_mapping
])

return LaunchDescription([group])
return LaunchDescription([group])
4 changes: 2 additions & 2 deletions common/robotnik_simulation_localization/launch/utils/save_map.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ def generate_launch_description():
arguments=[
'-f', [maps_path, '/', map_folder_name, '/', map_name], # /tmp/demo_map/demo_map.file
'--fmt', 'pgm', # Map format
'-t', "robot_map" # Map topic
'-t', "map", # Map topic
]
)

Expand All @@ -137,4 +137,4 @@ def generate_launch_description():
move_after_save
])

return LaunchDescription(declared_arguments + [group])
return LaunchDescription(declared_arguments + [group])